An Integrated approach for Path Planning for Mobile Robot Using Bi-RRT

Abstract

In this paper, an integrated effort has been exploited for path planning along with path smoothness for a mobile robot. An extension of randomly exploring tree is used to plan the path for robot along with path length smoothness. Our proposed system influences the concept of Bi-directional Rapidly Exploring Random Trees (Bi-RRTs) for path planning together with path smoothness for minimizing the processing time to search for the path length. We compared our system with standard method in trials with the autonomous robotic platform. Produced results show that the presented approach as high robustness and use less computational effort.