Improved Path Planning Algorithm Based on RRT Algorithm and Quintic B-spline Curve

Aiming at the problems of strong randomness, unsmooth path and local optimum in the path planning of the Rapidly-exploring Random Trees (RRT) algorithm. The paper designs an improved RRT algorithm with variable step size and goal orientation (VO-RRT), which introduces variable step size, oriented expansion node, optimized initial path and smoothed path four parts. Through several experiments in 2D and 3D space to prove that the VO-RRT algorithm has enhanced obstacle avoidance ability and improved path smoothness in different obstacle spaces. The path nodes generated by the VO-RRT algorithm in 3D space are tested in URsim simulation software and manipulator body to verify the executability of the optimized path.