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Quasi-optimal algorithm for planning a robotic system motion along the shortest path with random sampling
https://doi.org/10.17586/0021-3454-2025-68-5-450-455
Abstract
The problem of searching for a route of movement of a robotic system in a space with obstacles is considered. As a basis for solving the problem, a class of algorithms for path planning with a random sample of analyzed points of space is selected. A modification of the bidirectional fast-following random tree algorithm with a dynamically changing search zone, which is determined geometrically, is presented. The presented modification allows finding shorter routes of movement and reducing the load on computing resources compared to previous modifications.
Keywords
Supporting agencies: The work was carried out with the financial support of the Ministry of Science and Higher Education of the Russian Federation (project no. FSER-2025-0002) and the Student Scientific Association of Researches in the Field of Artificial Intelligence of ITMO University (project no. 640112)
About the Authors
I. S. Dovgopolik
ITMO University
Russian Federation
Russian Federation
Ilya S. Dovgopolik — MSc, Faculty of Control Systems and Robotics; engineer
St. Petersburg
O. I. Borisov
ITMO University
Russian Federation
Russian Federation
Oleg I. Borisov — PhD, Associate Professor, Faculty of Control Systems and Robotics
St. Petersburg
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Review
For citations:
Dovgopolik I.S., Borisov O.I. Quasi-optimal algorithm for planning a robotic system motion along the shortest path with random sampling. Journal of Instrument Engineering. 2025;68(5):450-455. (In Russ.) https://doi.org/10.17586/0021-3454-2025-68-5-450-455
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