Full
Outline
To address the issues of low efficiency, poor quality of random sampling points, and suboptimal path quality in the traditional RRT* algorithm during path exploration, this paper proposes a method that integrates an improved artificial potential field formulation with an adaptive step-size bidirectional expansion mechanism. By introducing an adaptive attraction coefficient and dual repulsion forces, the proposed method optimizes path guidance and obstacle avoidance. A dynamic step-size adjustment strategy and a bidirectional tree cooperative search mechanism are employed to reduce redundant nodes and accelerate convergence. A greedy algorithm is used to remove redundant nodes, ensuring path smoothness and continuity. Additionally, an adaptive goal-biasing strategy based on environmental density is introduced to enhance goal orientation and exploration efficiency. Experimental results demonstrate that, compared with the traditional RRT* algorithm and other improved algorithms, the proposed ABF-RRT* algorithm reduces the average path length by 17.7%, decreases the average number of nodes by 90.6%, and shortens the average running time by 95.5% in complex environments, verifying its stability and superiority.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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