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All Journal JOIN (Jurnal Online Informatika) International Journal of Artificial Intelligence Research InComTech: Jurnal Telekomunikasi dan Komputer JURNAL TEKNIK INFORMATIKA DAN SISTEM INFORMASI TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer Journal of Applied Engineering and Technological Science (JAETS) Indonesian Journal of Electrical Engineering and Computer Science Journal of Computer Networks, Architecture and High Performance Computing Journal Zetroem ICTEE (Engineering Journals of Information, control, telecommunication and electrical) Perwira Journal of Science and Engineering (PJSE) International Journal of Engineering Continuity International Journal of Science Education and Cultural Studies International Journal of Management Science and Application Jurnal Komputer dan Elektro Sains Journal of Embedded Systems, Security and Intelligent Systems Jurnal Pengabdian Masyarakat Sultan Indonesia BACA: Jurnal Dokumentasi dan Informasi
Taufik Hidayat
Universitas Wiralodra
Religion Humanities Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Languange, Linguistic, Communication & Media Library & Information Science Materials Science & Nanotechnology Mechanical Engineering Social Sciences Other

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Journal : journal of embedded systems security and intelligent systems

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An Enhanced Informed-RRT* Integrating Bidirectional Exploration, Fast Sampling, and Local Path Optimization Heru Suwoyo; Taufik Hidayat; Yingzhong Tian; Julpri Andika; Andi Adriansyah
Journal of Embedded Systems, Security and Intelligent Systems Vol 7 No 2 (2026): June 2026
Publisher : Program Studi Teknik Komputer

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59562/jessi.v7i2.12223

Abstract

Purpose – This study aims to improve the efficiency and path quality of Informed-RRT* for mobile robot path planning in complex environments by integrating bidirectional exploration, fast sampling, and local path optimization. Design/methods/approach – The proposed method follows a two-stage framework. In the initial exploration phase, two search trees are expanded bidirectionally using fast sampling to accelerate feasible path discovery. An ancestor-based parent selection mechanism based on the triangular inequality principle is then applied to improve local path quality and reduce inefficient rewiring. After an initial path is found, the algorithm switches to an informed optimization phase using ellipsoidal sampling while maintaining simultaneous two-tree expansion. The proposed method was evaluated in three two-dimensional static environments with different levels of complexity and compared with Fast-RRT* and Informed-RRT*. Performance was assessed using path cost, computation time, number of iterations, and Wilcoxon signed-rank testing. Findings – The results show that the proposed method consistently achieves lower path cost, shorter computation time, and fewer iterations than the baseline methods. Across simple to maze environments, the method reduces computation time by approximately 24–75% and improves path optimality by approximately 3.9–4.8%. Statistical testing confirms significant improvements in more constrained and maze-like environments. Research implications/limitations – The study demonstrates that combining accelerated exploration and local optimization can improve sampling-based path planning performance. However, the evaluation is limited to two-dimensional static environments and selected baseline methods. Originality/value – The proposed framework provides an enhanced Informed-RRT* approach that jointly addresses initial exploration efficiency, local path refinement, and informed optimization within a unified planning strategy.
Co-Authors Abdul Hamid Adrial Adrial Affan Nawly Tanjung Affy Khoiriyah Agna Safera Ahmad Gani Aji Nurrohman Ali Miftakhu Rosyad Ali Miftakhu Rosyad Alissa Eka Rahmawati Andi Adriansyah Andrie Yuswanto Andrie Yuswanto Andrie Yuswanto Angel Imannuel Annisa Fathul Jannah Azzery, Yasep Baiti Jannati Budi wibowo Cyntiya Laxmi Haura Dandi, Muhamad Dewi Yunita Sari Dewi Yunita Sari Diana Rusjayanti Diana Rusjayanti Dwi Mulyanto, Nur Fachri Alfianza Febriano Anggawa Rizky Fernando, Kinky He Xi Kang Hufrizatul Parida Ica Reisyya Y. P Imroatul Karimah Indra Surya Permana Ismail Ismail Ismail Ismail Jannatul Firdaus Nawang Wulan Julpri Andika Kinky Fernando Lukman Medriavin Silalahi Luqman Hafiz Luthfia Sodikin M Ihsan M. Kenanta Dhafin Mahardiko, Rahutomo Marwiyah Marwiyah Moh Mardiyana Mohamad Adnan Fauzi Mohamad Ricky Martin Mudrik Alaydrus Muhamad Baedowi Muhamad Dandi Muhammad Hamsah Nadim Ibrahim Nadim Ibrahim Najeem Olawale Adelakun Nida Pristyan Ramadhani Nur Afandi Nur Dwi Mulyanto Nurchamidah Nurchamidah Pao P. Ruaya Parastoo Alaei Roozbahani Pipit Puji Arti R. Deiny Mardian Rahmat Hidayat Rahutomo Mahardiko Rahutomo Mahardiko Rahutomo Mahardiko Ramli, Kalamullah Ricky Martin, Mohamad Safera, Agna Seno Wiji Prayitno Shofa Lutfiah Fitri Sianturi Tigor Franky Devano Sigit Wibawa Sodikin, Luthfia Stephen Reader Suwoyo, Heru Syahril Sidiq Tineke Fatma Putri Tio Dwi Ananpasha tion sutiyono Tion Sutiyono Wahyu Pratama SJ Wiji Prayitno, Seno Yasep Azzery Yingzhong Tian Zaenudin Zaenudin Zeyn Saleh Ali