CC-BRRT: A Path Planning Algorithm Based on Central Circle Sampling Bidirectional RRT.

Path planning through a bidirectional fast extended random tree algorithm cannot converge quickly, which does not meet the requirements of mobile robot path planning. To address this problem, an improved, central circle sampling bidirectional RRT (CC-BRRT) algorithm is proposed in this paper. The algorithm searches for the next sampling point by a central circle sampling strategy to reduce the numbers of searching nodes, and reduces the randomness by a target biasing strategy to speed up the convergence of the algorithm. For the obtained path, a sextic spline interpolation method is used to generate a smooth and executable path. Finally, experiments on mobile robot path planning are conducted both in simple with fewer obstacles and complex with more obstacles scenarios. The results show that the proposed CC-BRRT algorithm is superior to several other algorithms, with substantially fewer nodes sampled and a good smoothness and feasibility of the planned path.