Open access
Sep 2026
Hybrid path planning for mobile robots in complex environments: Fusing improved BI-RRT and enhanced DWA
A hybrid path planning algorithm that integrates an improved Bidirectional Rapidly-exploring Random Tree (BI-RRT) for global guidance with an enhanced Dynamic Window Approach (DWA) for local execution that improves search efficiency and maintains 100% success rate across tested environments.
Guogang Wang, Hong-Wei Sun, Zi-Chao Feng
· PLoS ONE · 0 citations