SS-RRT*: A Safe and Smoothing Path Planner for Mobile Robot in Static Environment

Abstract

The safety and energy loss are the fundamental issues of robot planning, which can achieve its practicability in real world applications. In this paper, a method which is based on a hybrid strategy is proposed. The main framework is described as follows: firstly, a map that expresses the environmental information is constructed based on Quick-RRT*. A hybrid strategy that guarantees node and path safety is proposed. Unsafe nodes are deleted from the sampled nodes in the constructed map, and a security path is generated. Furthermore, an improved Bezier curve algorithm is proposed to smooth the planned path. The experimental results show that the proposed method can generate an asymptotically optimal path and has better convergence performance than related works.