Path Planning of Quadrupedal Robot Based on Improved RRT-Connect Algorithm.

Xiaohua Xu, Peibo Li, Jiangwu Zhou, Wenzhuo Deng

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it

0cells of the map it votes in

1citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

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3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

A review of full-stack autonomous obstacle avoidance for assistive robots for the disabled.Frontiers in robotics and AI · 2026
Review

4 · The record

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PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

4 authors.

Xiaohua XuCollege of Mechanical Engineering, Donghua University, Shanghai 201620, China.

Peibo LiCollege of Mechanical Engineering, Donghua University, Shanghai 201620, China.

Jiangwu ZhouCollege of Mechanical Engineering, Donghua University, Shanghai 201620, China.

Wenzhuo DengCollege of Mechanical Engineering, Donghua University, Shanghai 201620, China.

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

In view of the large randomness, redundant path nodes, and low search efficiency of RRT-connect in a complex obstacle environment, this study intends to develop a path-planning method combining RRT-connect and Informed RRT*. First, to solve the problem of large sampling randomness, the Informed RRT* algorithm is combined to adopt a simpler rectangle and limit the sampling range to the rectangle. Second, for the poor quality of the search path, the dynamic step size is used for growth extension, the reverse greedy algorithm is used to delete redundant nodes, the spline curve is used to smooth the path such that the position meets the cubic spline curve and the speed meets the quadratic spline curve, and the final path is optimized. Finally, the proposed algorithm is verified in the simulation and real world using a self-developed quadrupedal robot. Compared with the original RRT-connect algorithm, the first solution time, total number of nodes, and initial path cost were reduced by more than 11%, 8.5%, and 2.5%, respectively.

Indexed as

adaptive dynamic step sizepath smoothingquadrupedal robotrectangular limit samplingreverse greedy algorithm

Identifiers

PMID40285247

DOI10.3390/s25082558

PMCPMC12031364

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.