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ASD-RRT*: An Enhanced Path Planning Algorithm Based on RRT* for Multi-Obstacle Environments.

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Title: ASD-RRT*: An Enhanced Path Planning Algorithm Based on RRT* for Multi-Obstacle Environments.
Authors: Wang, Chao1 wangchao@bistu.edu.cn, Li, Wenbin1 emaillwb@163.com
Source: Computer Science & Information Systems. Jan2026, Vol. 23 Issue 1, p113-132. 20p.
Subjects: Robotic path planning, Adaptive sampling (Statistics), Autonomous vehicles, Mathematical optimization, Motor vehicle dynamics
Abstract: The efficiency of sampling-based motion planning brings wide application in autonomous vehicles. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still challenges for the efficient motion planning in complex and multi-obstacles environments. Conventional sampling methods perform unconstrained sampling across the entire search space, often resulting in suboptimal paths. In this paper, we propose a novel algorithm, Adaptive Sampling and Densification RRT* (ASD-RRT*), for path planning in multi-obstacle environments. Our method extends RRT*-based sampling methods by incorporating adaptive sampling to enhance performance in complex environments. The adaptive sampling approach allows the algorithm to focus on effective regions, reducing sampling of irrelevant points and finding feasible solutions with fewer samples while maintaining the asymptotic optimality of RRT*. Further, we introduce a new optimization method for high-curvature paths and a routing strategy that satisfies vehicle dynamics constraints, aiming to improve path quality. The effectiveness and efficiency of the proposed ASD-RRT* are proved through comparative experiments in different environments. Experimental results demonstrates our method offers a reduction of 55.7% in planning times and 18.7% in path lengths over RRT* in a variety of environments. [ABSTRACT FROM AUTHOR]
Copyright of Computer Science & Information Systems is the property of ComSIS Consortium and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: ASD-RRT*: An Enhanced Path Planning Algorithm Based on RRT* for Multi-Obstacle Environments.
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  Data: <searchLink fieldCode="AR" term="%22Wang%2C+Chao%22">Wang, Chao</searchLink><relatesTo>1</relatesTo><i> wangchao@bistu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Li%2C+Wenbin%22">Li, Wenbin</searchLink><relatesTo>1</relatesTo><i> emaillwb@163.com</i>
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  Data: <searchLink fieldCode="JN" term="%22Computer+Science+%26+Information+Systems%22">Computer Science & Information Systems</searchLink>. Jan2026, Vol. 23 Issue 1, p113-132. 20p.
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  Data: <searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+sampling+%28Statistics%29%22">Adaptive sampling (Statistics)</searchLink><br /><searchLink fieldCode="DE" term="%22Autonomous+vehicles%22">Autonomous vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+optimization%22">Mathematical optimization</searchLink><br /><searchLink fieldCode="DE" term="%22Motor+vehicle+dynamics%22">Motor vehicle dynamics</searchLink>
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  Data: The efficiency of sampling-based motion planning brings wide application in autonomous vehicles. The conventional rapidly exploring random tree (RRT) algorithm and its variants have gained significant successes, but there are still challenges for the efficient motion planning in complex and multi-obstacles environments. Conventional sampling methods perform unconstrained sampling across the entire search space, often resulting in suboptimal paths. In this paper, we propose a novel algorithm, Adaptive Sampling and Densification RRT* (ASD-RRT*), for path planning in multi-obstacle environments. Our method extends RRT*-based sampling methods by incorporating adaptive sampling to enhance performance in complex environments. The adaptive sampling approach allows the algorithm to focus on effective regions, reducing sampling of irrelevant points and finding feasible solutions with fewer samples while maintaining the asymptotic optimality of RRT*. Further, we introduce a new optimization method for high-curvature paths and a routing strategy that satisfies vehicle dynamics constraints, aiming to improve path quality. The effectiveness and efficiency of the proposed ASD-RRT* are proved through comparative experiments in different environments. Experimental results demonstrates our method offers a reduction of 55.7% in planning times and 18.7% in path lengths over RRT* in a variety of environments. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of Computer Science & Information Systems is the property of ComSIS Consortium and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.2298/CSIS250612004W
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        Text: English
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        Type: general
      – SubjectFull: Adaptive sampling (Statistics)
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      – SubjectFull: Autonomous vehicles
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      – SubjectFull: Mathematical optimization
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      – SubjectFull: Motor vehicle dynamics
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              Text: Jan2026
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