Path Planning for Robotic Systems in Dynamic Environments: Using RRT*, RRT-D* Lite, and Bi-RRT*-D* Lite

Authors

• Hameed Salman Hameed, College of Control and Systems Engineering, University of Technology-Iraq, Baghdad, IraqFollow
• Omar Farouq Lutfy, College of Control and Systems Engineering, University of Technology-Iraq, Baghdad, IraqFollow
• Firas A. Raheem, College of Control and Systems Engineering, University of Technology-Iraq, Baghdad, IraqFollow

Corresponding Author

Hameed Salman Hameed

Document Type

Article

Keywords

Path planning, Dynamic environment, Hybrid approach, Rapidly-exploring random tree star

Abstract

Path planning is one of the essential challenges in the area of robotic systems. In recent years, Rapidly-exploring Random Tree star (RRT*) has been a preferred path planner for robots due to its probabilistic completeness. This paper explores using three path planning algorithms for a mass point robotic system navigating dynamic environments with RRT*, Bidirectional Rapidly-exploring Random Tree (Bi-RRT*), and a novel hybrid approach (Bi-RRT*-D Lite*). The study shows the performance of these algorithms in terms of the path length, the path generating time, the number of search attempts, and the percentage error. In addition, it compares the Bi-RRT* and the hybrid approach of Bi-RRT*-D*Lite relative to RRT*. We implement each algorithm in MATLAB and evaluate its effectiveness through simulations involving mazes with static and dynamic obstacles. Our findings demonstrate the advantages of the new hybrid approach in handling dynamic obstacles and showing superior efficiency in complex environments. The results showed that the reduction percentages of iteration, path generating time, and path length for Bi-RRT* relative to RRT are 91%, 86%, and 0.33%, respectively. On the other hand, the hybrid approach gives the percentages of improvements of 97%, 97%, and 6.8% compared to RRT.

How to Cite This Article

Hameed, Hameed Salman; Lutfy, Omar Farouq; and Raheem, Firas A. (2026) "Path Planning for Robotic Systems in Dynamic Environments: Using RRT*, RRT-D* Lite, and Bi-RRT*-D* Lite," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 26: Iss. 1, Article 9.
Available at: https://ijccce.researchcommons.org/journal/vol26/iss1/9