The present invention proposes a
mobile robot motion planning method based on obstacle-surrounding path optimization and biased sampling, comprising the following steps: step S1, constructing a node set, an edge set, and a sampling
point set not added to the search tree; step S2, constructing a
queue and; step S3, if the
processing of the batch of sampling points is completed,
pruning is performed; step S4, if the
processing of the batch of sampling points is completed, biased sampling is performed; step S5, if the optimal value of the
queue is not greater than the optimal value of the
queue, edge pre-expansion is performed; step S6, removing the edge with the minimum value; step S7, if the edge helps to improve the path quality, it will be added to the search tree; step S8, when the path meets the requirements, the path solution is returned, otherwise it returns to step S3 to continue; step S9, completing the path planning; compared with BIT*, the
algorithm of the present invention can converge to the optimal solution faster and improve the exploration efficiency, and has advantages in
incremental search path planning.