TBIC-RRT*: A Novel Efficient Approach for Robot Motion Planning

In this paper, the Triangular Bidirectional Intelligent Connection RRT* (TBIC-RRT*) is introduced, which is able to find the initial feasible solution quickly while increasing the convergence for real-time robot motion planning. Initially, a bidirectional method is introduced in order to quickly find the initial feasible obstacle-free solutio. In addition, based on the triangular-inequality principle, the ancestor set matrix and near set matrix are provided in order to achieve rapid optimization. The proposed method is verified in several typical complex instances including dense clutter, simple maze, narrow passage, and local trap environments. The experiments results indicates that the proposed algorithm can efficiently identify the initial feasible obstacle-free solution and ensures the asymptotic optimality.