Dynamic Enhanced RRT&#x0002A; Path Planning Algorithm for Transfer Robot

WEN Haijun; MENG Yuting

doi:10.19554/j.cnki.1001-3563.2026.03.014

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (3) : 133-145. DOI: 10.19554/j.cnki.1001-3563.2026.03.014

Automatic and Intelligent Technology

Dynamic Enhanced RRT* Path Planning Algorithm for Transfer Robot

WEN Haijun¹, MENG Yuting²

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Abstract

To address the issues of excessive random-sampling redundancy, slow convergence, and pronounced local oscillations in path generation when traditional RRT* algorithms are applied to factory handling robots in complex environments, the work aims to propose a Dynamic Enhanced RRT* (DE-RRT*) path planning algorithm. Firstly, the Variable Step-Size Least Mean Square (VSS-LMS) algorithm was introduced to achieve dynamic control of the step size, which was then adjusted according to the variation of the error from the terminal value. Additionally, multi-level passable regions with distinct safety margins were constructed, and obstacle regions were subjected to dual-layer inflation with different priorities to suppress ineffective branch extensions. Then, the exploration efficiency was further improved by constraining the sampling angle and regulating the overall growth of the tree. Finally, considering the robot's motion characteristics, a cubic B-spline was employed to smooth the resulting path, substantially reducing the number of abrupt turning points. Simulation results indicated that, compared with RRT* and IRRT*, DE-RRT* improved search efficiency and path quality, achieving a 35%-45% reduction in the average number of iterations and a 10%-20% reduction in path length. Real-world experimental validation further demonstrated that DE-RRT* shortened the total path length by 43.4% and reduced execution time by 50.3% relative to RRT*, while providing superior smoothness. Overall, the proposed algorithm delivers notable advantages in efficiency, path optimality, and smoothness, offering a promising solution for path planning in intelligent factory logistics systems.

Key words

DE-RRT* / path planning / dynamic sampling strategy / local enhancement

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WEN Haijun, MENG Yuting. Dynamic Enhanced RRT* Path Planning Algorithm for Transfer Robot[J]. Packaging Engineering. 2026, 47(3): 133-145 https://doi.org/10.19554/j.cnki.1001-3563.2026.03.014

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