Light Reflection-Guided RRT$^{*}$: Efficient Path Planning in Narrow Passages
Xiaotong Xun, Runda Zhang, Senchun Chai, Runqi Chai, Yuanqing Xia · IEEE Robotics and Automation Letters · 2025
In complex and constrained environments, robot path planning faces the dual challenges of efficiency and solution quality. This paper presents a Light Reflection Heuristic RRT$^*$algorithm (LRH-RRT$^*$), which generates the reference path by simulating light reflections along obstacle boundaries and adaptively adjusts the sampling distribution. A dynamic path pruning strategy is introduced to eliminate redundant nodes, and third-order Bézier curve interpolation is applied to smooth the path while satisfying the dynamic constraints of mobile robots. Experimental results demonstrate that LRH-RRT$^*$improves planning efficiency and path quality in various narrow passage scenarios.