Research on APF-Bi-RRT Algorithm of Adaptive Step Strategy for Robot Path Planning

To address the issues of long planning time and low iterative efficiency in traditional path planning algorithms, this paper proposes an adaptive step size strategy for the APF-Bi-RRT algorithm. The idea of the attraction function and repulsion function of the APF algorithm is incorporated into the Bi-RRT algorithm, which provides a direction for the randomly sampled points generated by the Bi-RRT algorithm and reduces useless sampling points and running time. The adaptive step size strategy is adopted to reduce the number of iterations and improve the running efficiency of the algorithm. The algorithm was simulated in two-dimensional and 3D environments. The results showed that the improved algorithm significantly reduced the number of iterations and running time compared with the RRT algorithm and Bi-RRT algorithm and shortened the path length.