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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 11

Path planning of mobile robots based on RRT* guided MPPI in complex environments

Zheng Jianxiao1
Huang Zijian1
Liu Jinsong1
Tong Xiaoyang1
Chen Gang2
1. School of Mechanical & Electrical Engineering, Xi'an University of Architecture & Technology, Shanxi Xian 710055, China
2. School of Mechanical Engineering, Jiaxing University, Zhejiang Jiaxing 314001, China
DOI: 10.19734/j.issn.1001-3695.2025.04.0127

Abstract

A hybrid path planning algorithm was proposed to address the issues of path planning efficiency and dynamic obstacle avoidance in complex environments. This algorithm fuses a global Rapidly exploring Random Tree with a local Model Predictive Path Integral controller. In the global planning stage, an improved RRT* algorithm evaluated local environmental complexity via an awareness model. It also introduced a directional bias factor to optimize path convergence. Furthermore, adaptive rewiring radius and shear interpolation strategies were proposed. These strategies improved search efficiency and provided high quality navigation nodes. In the local planning stage, the MPPI controller utilized the initial path from the RRT*. It employed an adaptive target point strategy to search for path nodes within a dynamic radius and selected the optimal one based on weight evaluation. The design incorporated dynamic obstacle constraints to enable real-time path adjustments, which enhanced avoidance capabilities. Experimental results show the proposed algorithm's advantages. Compared to a standard RRT* guided MPPI algorithm in complex dynamic environments, the proposed algorithm increased the planning success rate by 12.37% and reduced planning time by 29.20%. It also achieved a shorter total travel distance. The algorithm demonstrates significant improvements in path planning efficiency and smoothness. It also exhibits excellent robustness and adaptability.

Foundation Support

陕西省自然科学基础研究计划基金项目(2023-JC-YB-294)
浙江省尖兵领雁研发攻关计划(2024C04052)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.04.0127
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 11

Publish History

[2025-07-24] Accepted Paper

Cite This Article

郑建校, 黄子健, 刘金颂, 等. 复杂环境下基于RRT*引导MPPI的移动机器人路径规划 [J]. 计算机应用研究, 2025, 42 (11). (2025-07-24). https://doi.org/10.19734/j.issn.1001-3695.2025.04.0127. (Zheng Jianxiao, Huang Zijian, Liu Jinsong, et al. Path planning of mobile robots based on RRT* guided MPPI in complex environments [J]. Application Research of Computers, 2025, 42 (11). (2025-07-24). https://doi.org/10.19734/j.issn.1001-3695.2025.04.0127. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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