Hybrid path planning for mobile robots in complex environments: Fusing improved BI-RRT and enhanced DWA
Guogang Wang, Hongwei Sun, Zichao Feng · 2026
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Description
Guogang Wang and co-authors fuse two planners into a hybrid system for mobile robots in complex spaces. Robots need a global route plus fast local dodging of obstacles. Single planners tend to fail at one of those two jobs.
The global part improves a bidirectional random tree search method. It adds multi-point sampling, shifting step sizes, and field-guided node choice. The local part upgrades the dynamic window approach for moving obstacles. It uses past path data and predicts obstacle motion ahead. Global waypoints feed the local controller for smooth handoffs. Tests ran in simulations at three scales and on a robot platform. The hybrid cut redundant sampling and improved path quality.
Catalog record
| CREATOR | Guogang Wang, Hongwei Sun, Zichao Feng |
|---|---|
| YEAR | 2026 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 122 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |