大连理工大学学报Issue(6)：637-643,7.DOI:10.7511/dllgxb201406007
一种基于 RRT-ConCon 改进的路径规划算法
An improved path planning algorithm based on RRT-ConCon
摘要
Abstract
Aiming at the lack of stability and slow convergence for RRT algorithm,based on RRT-ConCon algorithm and towards goal search strategy,an improved bidirectional search path planning algorithm is proposed. By changing the temporary extension target for two search paths, the algorithm not only can make the search path grow easily towards the direction of target,but also can improve the stability of the algorithm,at the same time can guarantee the planning path close to the optimal solution.The improved RRT-ConCon algorithm uses random node generating function to avoid the search path growing towards the target point falling into local minimum.Meanwhile,in order to test a variety of simulation experimental environments, a simulation experimental environment platform is designed,and experimental results demonstrate the effectiveness and stability of the proposed algorithm.关键词
移动机器人/路径规划/快速扩展随机树(RRT)/双向搜索树(Bi-RRT)/RRT-ConCon算法Key words
mobile robot/path planning/rapidly-exploring random trees (RRT)/bidirectional rapidly-exploring random trees (Bi-RRT)/RRT-ConCon algorithm分类
信息技术与安全科学引用本文复制引用
王凡,冯楠,胡小鹏..一种基于 RRT-ConCon 改进的路径规划算法[J].大连理工大学学报,2014,(6):637-643,7.基金项目
国家自然科学基金资助项目(61272523) （61272523）
