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Bi-RRT* Path Planning Algorithm Based on Guided Connection and Artificial Potential Field
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Limin Huang1, Jiaxin Ding1, Yifeng Guo1, Hao Yang1, Kai Deng2
Automobile Technology | 2026, (6) : 11 - 20
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Automobile Technology | 2026, (6): 11-20
• Special Topic on Intelligent Driving Path Planning Technology for Complex Scenarios •
Bi-RRT* Path Planning Algorithm Based on Guided Connection and Artificial Potential Field
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Limin Huang1, Jiaxin Ding1, Yifeng Guo1, Hao Yang1, Kai Deng2
Affiliations
  • 1.School of Mechanical Engineering, Chengdu University, Chengdu 610106
  • 2.Geely University of China, Chengdu 641423
Published: 2026-06-24 doi: 10.19620/j.cnki.1000-3703.20260077
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To address the issues of strong search blindness and poor path feasibility in the traditional Bi-RRT* algorithm, this paper proposes an improved approach named GC-APF-Bi-RRT* (Bi-RRT* based on Guided Connection and Artificial Potential Field). The algorithm first establishes a collision model for vehicles considering four-wheel steering vehicles. It then overcomes the problems of sampling difficulties and reciprocating paths by extracting environmental guide points and employing a search-based connection strategy constrained by direction consistency. Furthermore, an improved APF integrated with a goal-distance factor is introduced to guide the tree growth direction. Finally, greedy pruning and B-spline smoothing techniques are applied to optimize the trajectory. Simulation results demonstrate that in complex environments, compared to traditional RRT, RRT*, RRT-Connect, Bi-RRT*, and Goal-Biased RRT*, the proposed algorithm reduces path length by 19.45%, 9.94%, 13.85%, 4.10%, and 3.61%, respectively, and shortens search time by 62.57%, 65.15%, 0.97%, 66.63%, and 71.28%, respectively.

Path Planning  /  Improved Bi-RRT*  /  Search-based Connection  /  Artificial Potential Field (APF)
黄丽敏, 丁加鑫, 郭毅锋, 杨浩, 邓凯. 基于引导连接与人工势场的Bi-RRT*路径规划算法. 汽车技术, 2026 , (6) : 11 -20 . DOI: 10.19620/j.cnki.1000-3703.20260077
Limin Huang, Jiaxin Ding, Yifeng Guo, Hao Yang, Kai Deng. Bi-RRT* Path Planning Algorithm Based on Guided Connection and Artificial Potential Field[J]. Automobile Technology, 2026 , (6) : 11 -20 . DOI: 10.19620/j.cnki.1000-3703.20260077
Appendix
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Year 2026 volume Issue 6
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doi: 10.19620/j.cnki.1000-3703.20260077
  • Online Date：2026-09-23
  • Published：2026-06-24
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  • Revised：2026-03-16
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Affiliations
    1.School of Mechanical Engineering, Chengdu University, Chengdu 610106
    2.Geely University of China, Chengdu 641423
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