Wen-Cong Huang

SACE-Bi-RRT*: Sobol-Adaptive Connection-Gated Expansion with Tangent-Plane Deflection for Three-Dimensional UAV Path Planning

Planning collision-free paths for unmanned aerial vehicles in cluttered three-dimensional environments requires balancing path length, smoothness, and consistency across repeated queries. However, existing bidirectional RRT* planners generally do not exploit two sources of information generated during the search: the l...