Journal of Shandong University(Engineering Science) ›› 2026, Vol. 56 ›› Issue (3): 73-83.doi: 10.6040/j.issn.1672-3961.0.2025.051

• Machine Learning & Data Mining • Previous Articles     Next Articles

Improved RRT-Connect and AFSA fusion algorithm for mobile robot path planning

CHEN Zhilan1,2, GU Chunxiang1*   

  1. CHEN Zhilan1, 2, GU Chunxiang1*(1. College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China;
    2. College of Mechanical and Electronic Engineering, Shanghai Jian Qiao University, Shanghai 201306, China
  • Published:2026-06-09

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Abstract: Aiming at the problems of the RRT-Connect algorithm in path planning, such as low search efficiency, weak target orientation, redundant path nodes, and poor smoothness, the ARRT-Connect fusion algorithm was proposed based on the improvement of the RRT-Connect algorithm and the artificial fish swarm algorithm.The algorithm introduced intermediate nodes, adopted a target bias strategy, gravitational potential field guidance, adaptive step size adjustment and pruning optimization, and combined B-spline curves to smooth the path. It improved the step size and visual range of the artificial fish swarm algorithm to enhance the global search capability. Experiments showed that compared with the RRT-Connect algorithm, the ARRT-Connect algorithm reduced the average time consumption by 82.22% and 76.92% in simple and complex environments respectively, shortened the average path length by 17.41% and 19.38%, and decreased the average number of nodes by 79.21% and 77.84%. When applied to real-world scenarios, the path length and time consumption of mobile robots were significantly shortened, and path transitions became gentler, which verified the effectiveness, superiority and feasibility of the algorithm.

Key words: fusion algorithm, mobile robot, path planning, RRT-Connect, artificial fish swarm algorithm

CLC Number: 

  • TP242.6
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