DBVS-APF-RRT*: A global path planning algorithm with ultra-high speed generation of initial paths and high optimal path quality

During the last decade, RRT* algorithm has been widely concerned by researchers because of its asymptotic optimality. However, the slow convergence rate of the RRT* algorithm leads to poor quality of the optimal paths at smaller number of iterations. Meanwhile, searching the initial path slowly limits its application scenarios. To overcome these problems, a directionally biased variable step APF-RRT* (DBVS-APF-RRT*) algorithm is proposed in this paper. Firstly, a novel directionally biased variable step sampling strategy is used in RRT* algorithm to quickly generate the initial path. Then, global random sampling and key region sampling strategies are added to improve global search ability and optimal path quality. At the same time, an artificial potential field (APF) method is introduced to improve the ability of obstacle avoidance. In addition, we propose a pruning strategy based on triangular inequality with direct connection of goal points to reduce the number of redundant nodes and shorten the path length. Finally, DBVS-APF-RRT* algorithm is compared with RRT*, Bias-RRT*, Informed-RRT* and Bias-P-RRT* algorithms to verify its superiority of optimal path quality, stability of the algorithm and its rapidity of finding the initial path.