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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA) Jurnal Edukasi Elektro Jurnal Ilmu Komputer dan Informasi TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics Jurnal Ilmiah Kursor Sinergi Seminar Nasional Informatika (SEMNASIF) ICON-CSE Jurnal Teknologi Elektro ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Proceeding of the Electrical Engineering Computer Science and Informatics Reviewer TEKNOKOM : Jurnal Teknologi dan Rekayasa Sistem Komputer Journal of Robotics and Control (JRC) Indonesian Journal of Electrical Engineering and Computer Science International Journal of Electrical, Energy and Power System Engineering (IJEEPSE) Indonesian Journal for Social Responsibility International Journal of Advanced Technology in Mechanical, Mechatronics and Material (IJATEC) Technologic Journal of Integrated and Advanced Engineering (JIAE) Journal FORTEI-JEERI International Journal of Engineering Continuity Journal of Embedded Systems, Security and Intelligent Systems Buletin Pos dan Telekomunikasi TECHNOLOGIC
Andi Adriansyah
Universitas Mercu Buana
Aerospace Engineering Agriculture, Biological Sciences & Forestry Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Energy Engineering Environmental Science Industrial & Manufacturing Engineering Library & Information Science Materials Science & Nanotechnology Mechanical Engineering Social Sciences

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Journal : journal of embedded systems security and intelligent systems

 1 
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 Ab Ghani, Muhammad Amin Abdi Wahab Abdul Mutalib Leman Abdurohman Abdurohman ABU UBAIDAH SHAMSUDIN Abu Ubaidah Shamsudin Adikrisna Nugraha Ahmad 'Athif Mohd Faudzi Ahmad 'Athif Mohd Faudzi Akhmad Wahyu Dani Amrullah , Ahmad Ghozali Annisa Hakim Zamzami Arif Basuki Badaruddin . Badaruddin Badaruddin Cak Fangky Poernomo Chenwei Deng Dafit Feriyanto Deng, Chenwei Dodi Hermawan Eko Ihsanto Elly Yuliawati Erna Setiany Fahrizal, Diki Fajri Rezki Hutomo Fengfeng Xi Ferdana, Nanda Fina Supegina Firdaus, Ade Furqan Furqan Guangjie Yuan Hadi Pranoto Hadi Pranoto Haekal, Jakfat Heri Hermawan Hitimana, Sabin Isack Farady Jaja Kustija, Jaja Julpri Andika Kasmad Ariansyah KOERNIAWAN, SETYA DWI Long Li Md Nor, Danial Mirzanu Rizki GM Mirzanu Rizki GM Mochamad Irlan Malik Mohamed Nasir, Noorhamizah Muchamad Rizky Nugraha Mudrik Alaydrus Muhamad Nasir, Muhamad Muhammad Hafizd Ibnu Hajar Muhammad Hanif Budiutomo Muhammad Yusuf Muthia Rahayu Muttaqin, Muhammad Husni Oka Hidyatama Pratiwi, Riri Putri Wulandari RAHAYU, FAJAR Rama Sulistyawan Ramadhan, Kurnia Reni Ika Andriani Ri zally Priatmadja Rino Ferdian Surakusumah Rio Mubarak Rizal Bahaweres Rizal Bahaweres Rizki Briandana Rizky Dinata Robi Yusuf Habibie Sabin Hitimana Said Attamimi Selomah, Mohammad Suhaimi Setiyo Budiyanto Setya Dwi Koerniawan Shamsudin H. Mohd. Amin Shamsudin, Abu Ubaidah Shamsudin, Abu Ubaidillah Suhartina, Rahmalisa Supaat Zakaria Suwoyo, Heru Taufik Hidayat Tay, Tay Gaik Thathit Gumilar Triwidya Mochtar Thong, Zhou Tian, Yingzhong Tian, Yingzhong Tjetjep Rony Budiman Tjetjep Rony Budiman Tong Zhou Wenbin Wang Wijaya Wijaya Yananto Mihadi Putra Yanti Yanti Yifan Li Yingzhong Tian Yingzhong Tian Yinzhong Tian Yudhi Gunardi Yuliza Yuliza Zakaria, Supaat Zendi Iklima Zhou Thong ZULHAMIDI, ZULHAMIDI Zulkifli, Muhammad Fathi Yakan