A sampling-based planning algorithm integrates adaptive multi-stage sampling and efficient path cost optimization

Shenglin Wang

doi:10.1016/j.engappai.2026.115253

A sampling-based planning algorithm integrates adaptive multi-stage sampling and efficient path cost optimization

2026-06-06

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DOI：10.1016/j.engappai.2026.115253

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• An adaptive multi-stage sampling strategy is applied to adjust sampling methods. • A failure region mechanism is used to guide sampling away from collision regions. • A cost-driven parent node selection strategy is utilized to improve path quality. • A variable step-size expansion strategy is adapted to accelerate convergence.

A sampling-based planning algorithm integrates adaptive multi-stage sampling and efficient path cost optimization

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