控制理论与应用2016，Vol.33Issue(7)：870-878,9.DOI:10.7641/CTA.2016.50942
采用碰撞测试和回归机制的非完整约束机器人快速扩展随机树运动规划
Rapidly-exploring random trees motion planning for non-holonomic robot with collision-test and regression mechanism
摘要
Abstract
An improved rapidly-exploring random trees (RRT) algorithm is proposed to deal with the motion planning for non-holonomic mobile robots. The RRT algorithms using a bias towards the goal while choosing a random config-uration, that will leads to the problem of local minima. Therefore, a novel method called collision-test and regression mechanism (CR) mechanism is presented, in which the collision detection mechanism and the regression testing mechanis-m are combined to enable the robot to escape from the local minima.The CR mechanism takes the global constraints into consideration, avoids exploring the directions which have been explored repeatedly.The repeatedly regression testing and detection for obstacle avoidance to the edge nodes are prevented in the CR.The ultimate goal of the algorithm is to im-prove the real-time performance of the planner, especially in the environment with highly-constraints. Simulation results of several improved RRT algorithms in the environment which is apt to generate local minima problems, verifies the proposed algorithm can improve the real-time performance significantly without obviously negative influences.关键词
机器人学/运动规划/非完整约束/RRT算法Key words
robotics/motion planning/non-holonomic constraint/RRT algorithm分类
信息技术与安全科学引用本文复制引用
张波涛,李加东,刘士荣..采用碰撞测试和回归机制的非完整约束机器人快速扩展随机树运动规划[J].控制理论与应用,2016,33(7):870-878,9.基金项目
国家自然科学基金项目(61503108,61175093),浙江省自然科学基金项目(LQ14F030012)资助 （61503108,61175093）
