Comparison of Strategies for Optimizing Bi-RRT* on Mobile Robots

Aiming at problems such as poor target orientation, redundant path inflection points and collision risk in sampling-based planning algorithm such as RRT and RRT*. Strategies for solving those problems are presented in recent work of papers which based on improving Bi-RRT that is an extension of RRT with faster convergence. This paper provides a comparison and analytical review of those strategies correspond to those problems which the performance of the strategies in terms of path length, processing time and total number of nodes in tree are presented through MATLAB simulation. Moreover, the optimal strategies are selected and implemented in Bi-RRT* which has faster convergence speed as compared to its predecessor of Bi-RRT. Further, certain aspects of improved Bi-RRT* based on selected strategies are found to be improved by comparing to traditional Bi-RRT*.