Path Planning of Mobile Target Robot Based on RRT* Algorithm

In order to better train shooters of different levels, this paper focuses on path planning and evaluation of mobile target robots. Given the global map, multiple random points are generated in the accessible area of the map. The target robot moves between the points in different orders, where the paths between adjacent random points are obtained based on the RRT * algorithm. Afterwards, the final path is obtained by merging each short sub-path between each adjacent point pair. A path evaluation function that evaluates the shooting difficulty of a path is then proposed with regards to three aspects, obstacles, distance, and shooting angle. If the robot's movement speed, path difficulty and shooter's level can be matched properly, the shooter's shooting accuracy and agility can be improved more quickly. Experiments have been conducted based on both simulation and real robots, where the feasibility of the approach has been verified.