Qianshu Yang, Shuangxi Liu*, Xianyu Wu, Wei Zhao
CMC-Computers, Materials & Continua, Vol.88, No.1, 2026, DOI:10.32604/cmc.2026.079895
- 08 May 2026
Abstract Path planning for unmanned systems in complex environments must simultaneously satisfy safety, kinematic feasibility, and real-time performance requirements. Monte Carlo Tree Search (MCTS) offers advantages such as model-free operation, strong interpretability, and anytime planning capability, but it suffers from large branching factors, excessive search depths, and poor convergence under sparse reward conditions in high-dimensional state spaces. To address these challenges, this paper proposes a Heuristic Rolling Monte Carlo Tree Search (HRMCTS) framework. First, the path planning problem is formulated as a constrained Markov decision process, where the state consists of position and heading, and actions… More >