Zhenpeng Jiang, Qingquan Liu^*, Ende Wang

CMC-Computers, Materials & Continua, Vol.86, No.1, pp. 1-18, 2026, DOI:10.32604/cmc.2025.068780 - 10 November 2025

Abstract Rapidly-exploring Random Tree (RRT) and its variants have become foundational in path-planning research, yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety. To address these challenges, we introduce HS-APF-RRT*, a novel algorithm that fuses layered sampling, an enhanced Artificial Potential Field (APF), and a dynamic neighborhood-expansion mechanism. First, the workspace is hierarchically partitioned into macro, meso, and micro sampling layers, progressively biasing random samples toward safer, lower-energy regions. Second, we augment the traditional APF by More >

Juanling Liang¹, Wenguang Luo^1,2,*, Yongxin Qin¹

CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1009-1027, 2024, DOI:10.32604/cmc.2024.055883 - 15 October 2024

Abstract An improved RRT* algorithm, referred to as the AGP-RRT* algorithm, is proposed to address the problems of poor directionality, long generated paths, and slow convergence speed in multi-axis robotic arm path planning. First, an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency. Second, a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to… More >

Loc Q. Huynh¹, Ly V. Tran¹, Phuc N. K. Phan¹, Zhiqiu Yu², Son V. T. Dao^1,2,*

CMC-Computers, Materials & Continua, Vol.76, No.2, pp. 2281-2300, 2023, DOI:10.32604/cmc.2023.034872 - 30 August 2023

Abstract Path planning is a prevalent process that helps mobile robots find the most efficient pathway from the starting position to the goal position to avoid collisions with obstacles. In this paper, we propose a novel path planning algorithm–Intermediary RRT*-PSO-by utilizing the exploring speed advantages of Rapidly exploring Random Trees and using its solution to feed to a metaheuristic-based optimizer, Particle swarm optimization (PSO), for fine-tuning and enhancement. In Phase 1, the start and goal trees are initialized at the starting and goal positions, respectively, and the intermediary tree is initialized at a random unexplored region… More >

Chengchen Zhuge^1,2,3,*, Qun Wang^1,2,3, Jiayin Liu^1,2,3, Lingxiang Yao⁴

Computer Systems Science and Engineering, Vol.39, No.1, pp. 107-119, 2021, DOI:10.32604/csse.2021.016273 - 10 June 2021

Abstract The Rapidly-exploring Random Tree (RRT) algorithm is an efficient path-planning algorithm based on random sampling. The RRT* algorithm is a variant of the RRT algorithm that can achieve convergence to the optimal solution. However, it has been proven to take an infinite time to do so. An improved Quick-RRT* (Q-RRT*) algorithm based on a virtual light source is proposed in this paper to overcome this problem. The virtual light-based Q-RRT* (LQ-RRT*) takes advantage of the heuristic information generated by the virtual light on the map. In this way, the tree can find the initial solution More >