Wei Zheng

An Improved Informed-RRT* Algorithm Based on Risk-Density-Aware Corridor Sampling and Improvement-Bound Rejection for Path Planning

Sampling-based path planning is widely used in autonomous navigation, but Informed-RRT* still relies mainly on geometric ellipsoidal sampling and does not explicitly evaluate local obstacle risk, which can lead to invalid expansion, redundant nodes, and slow convergence. This pap...