@inproceedings{49cbf8875fd34040ae10e9be5455500f,
title = "Quick-PBHS-RRT*: An Improved Fast Path Planning Algorithm for Manta Robotics",
abstract = "To address the issues of slow convergence speed and high path costs in the RRT* algorithm. This paper proposes a Quick Potential-Biased Hybrid Sampling RRT* (Quick-PBHS-RRT) algorithm. Building upon the RRT* framework, the proposed method integrates three sampling strategies: uniform sampling, Gaussian sampling, and goal-biased sampling. It further incorporates an artificial potential field (APF) for trajectory guidance while implementing a deep node optimization mechanism. Comparative simulations in identical environments demonstrate significant improvements: Compared with APF-RRT* and Quick-RRT* (Q-RRT*), Quick-PBHS-RRT* achieves 11.8\% higher path quality than APF-RRT* and 0.69\% improvement over Q-RRT*. Regarding computational efficiency, the algorithm reduces convergence time by 89.3\% relative to APF-RRT* and 76.9\% compared to Q-RRT*. Finally, the robustness of the algorithm is further validated through line-of-sight (LOS) navigation experiments implemented on a manta robotic vehicle platform.",
keywords = "Manta robotics, Path planning, RRT*",
author = "Kaimeng Luo and Yong Zhao and Tao Chen and Yiwei Hao and Bojun Liu and Jiale Jin and Yong Cao",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2026.; 5th International Conference on Autonomous Unmanned Systems, ICAUS 2025 ; Conference date: 17-10-2025 Through 19-10-2025",
year = "2026",
doi = "10.1007/978-981-95-7641-8\_14",
language = "英语",
isbn = "9789819576401",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "151--160",
editor = "Shaorong Xie and Yifeng Niu and Wenxing Fu and Yi Qu",
booktitle = "Proceedings of 5th 2025 International Conference on Autonomous Unmanned Systems, ICAUS - Volume 1",
}