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Research on path planning algorithm based on improved Bi-RRT
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Mamat Tursun1, Xiangshuo Liu1, Chunguang He1, Qiuju Yang2, Ting Duan2
Electronic Measurement Technology | 2026, 49(6) : 123 - 134
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Electronic Measurement Technology | 2026, 49(6): 123-134
• Theory and Algorithms •
Research on path planning algorithm based on improved Bi-RRT
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Mamat Tursun1, Xiangshuo Liu1, Chunguang He1, Qiuju Yang2, Ting Duan2
Affiliations
  • 1.College of Transportation and Logistics Engineering, Xinjiang Agricultural University, Urumqi 830052, China
  • 2.Xinjiang Communications Construction Group Co., Ltd., Urumqi 830016, China
doi: 10.19651/j.cnki.emt.2519398
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To address the low search efficiency, slow convergence speed, and limited path expansion diversity of the RRT family of algorithms, an adaptive multi-strategy dynamic step-size algorithm, AMDS-Bi-RRT*, is proposed. Based on the Bi-RRT* framework, the algorithm enhances convergence efficiency through a dynamic goal-directed extension strategy and an adaptive step-size evaluation function. A multi-directional emergency maneuver strategy is designed to improve adaptability in complex environments. Meanwhile, node sampling is optimized using an improved artificial potential field method, and a three-stage path smoothing approach is introduced to ensure path feasibility. Comparative experiments conducted in four simulation environments of varying complexity against five benchmark algorithms—Bi-APF-RRT*, Bi-RRT*, APF-RRT*, RRT*, and goal-biased RRT*—demonstrate that AMDS-Bi-RRT* reduces average planning time by 12.22%~23.45%, shortens average path length by 0.88%~1.89%, and decreases the average number of nodes by 6.69%~22.85%. The results verify that AMDS-Bi-RRT* outperforms the comparison algorithms in planning efficiency, path quality, and convergence speed, confirming its superior performance across diverse environments.

Bi-RRT*  /  AMDS-Bi-RRT*  /  adaptive step size  /  dynamic goal-directed extension  /  multi-directional emergency maneuver strategy  /  three-stage path smoothing
Mamat Tursun, Xiangshuo Liu, Chunguang He, Qiuju Yang, Ting Duan. Research on path planning algorithm based on improved Bi-RRT[J]. Electronic Measurement Technology, 2026 , 49 (6) : 123 -134 . DOI: 10.19651/j.cnki.emt.2519398
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Year 2026 volume 49 Issue 6
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doi: 10.19651/j.cnki.emt.2519398
  • Receive Date：2025-07-18
  • Online Date：2026-05-15
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  • Received：2025-07-18
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Affiliations
    1.College of Transportation and Logistics Engineering, Xinjiang Agricultural University, Urumqi 830052, China
    2.Xinjiang Communications Construction Group Co., Ltd., Urumqi 830016, China
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