CSM-RRT*: an improved RRT* algorithm based on constrained sampling mechanism

The Rapidly Exploring Random Tree Star (RRT * ) is recognized as a better path planning algorithm, but its path quality and path planning speed still have room for improvement.In this paper, an improved RRT* algorithm(CSM-RRT*) based on constrained sampling mechanism is proposed .The entire planning process is divided into two steps: fast exploration and optimization of the initial path.Subsequently, a dynamic sampling region consists of removed redundant nodes and collision nodes is formed around initial path By prioritizing exploration within this dynamic region, computational resources can be saved and the asymptotic optimal path can be quickly converged from the initial path.Eventually, simulation results presented in various obstacle environments confirm the efficiency of CSM-RRT*.