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Path planning based on adaptive space expansion-RRT* for autonomous vehicle

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The adaptive space expansion-based RRT* effectively improves search efficiency while path planning.
A dynamic step-size strategy allows the algorithm to adapt to varying exploration needs, enhancing performance.
The optimization incorporates actual vehicle shapes and kinematic properties for better safety and comfort.
NURBS curves are utilized for path optimization, improving quality in complex environments.

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Proposed adaptive RRT* improves path quality and safety in autonomous vehicles, suggesting enhanced performance.

Wang et al. (2025) studied this question.

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