Improved Bidirectional RRT Path Planning Method for Smart Vehicle

Table 1

Comparison of environment simulation results based on the obstacle environment (a).

Algorithm	RRT	Bidirectional RRT	Improved bidirectional RRT
Random sampling points (piece)	53	50	45
Average path length (m)	26.190	28.660	23.071
Average time (s)	0.52	0.47	0.453