Abstract: To improve the security and effectiveness of mobile robot path planning,a slime mould rapid-expansion random tree (S-RRT) algorithm is proposed. This path planning algorithm is designed based on a biological optimization model and a rapid-expansion random tree ( RRT) algorithm. S-RRT algorithm can use the function of optimal direction to constrain the generation of a new node. By controlling the generation direction of the new node, an optimized path can be achieved. Thus, the path oscillation is reduced and the planning time is shortened. It is proved that S-RRT algorithm overcomes the limitation of paths zigzag of RRT algorithm through theoretical analysis. Experiments show that S-RRT algorithm is superior to RRT algorithm in terms of safety and efficiency.

Key words: mobile robot, path planning, rapid-expansion random tree (RRT), slime mould