Potential guided directional RRT* is a single source-destination robot motion planning algorithm. It is a sampling based algorithm which constructs a tree rooted at the source by generating a random node at each iteration and adding this new node to the tree. It combines the artificial potential field model with the RRT* model thereby achieving a higher rate of convergence than the traditional RRT* model and also avoids the local minima problem that was otherwise present in the potential field model.
Proposal