Enhanced SIRRT*: A Structure-Aware RRT* for 2D Path Planning with Hybrid Smoothing and Bidirectional Rewiring
Enhanced SIRRT* improves path planning by combining skeletonization with hybrid path smoothing and bidirectional rewiring. It uses structural information from a grid map to create a better initial solution, then refines that path geometrically and structurally before using RRT* optimization. This results in faster, more stable convergence and higher quality paths compared to existing methods.