湖南大学学报（自然科学版）2017，Vol.44Issue(4)：30-37,8.DOI:10.16339/j.cnki.hdxbzkb.2017.04.005
改进RRT在汽车避障局部路径规划中的应用
An Improved RRT Algorithm of Local Path Planning for Vehicle Collision Avoidance
摘要
Abstract
The original Rapidly-exploring Random Trees(RRT) algorithm has a rapid exploring-speed and short required time in path planning though it has large randomness and lacks of constraints.Thus,an improved RRT was proposed where the expected paths were built in both straight and curved roads.The random points were accorded with normal distribution around the expected paths.Heuristic search method that led the random points to the goal with a certain probability was also used for improvement.Compared with the original RRT algorithm,it performs quite well in both time-efficient and path quality in the simulation.Meanwhile,the effectiveness of the improved RRT algorithm was verified in Prescan.The path can be followed well and the secure lateral acceleration was satisfied.In conclusion,the improved RRT is effective in the path planning for vehicle collision avoidance.关键词
快速搜索随机树/汽车局部路径规划/高斯分布/路径跟随Key words
rapidly-exploring random trees/vehicle path planning/Gauss distribution/path following分类
信息技术与安全科学引用本文复制引用
宋晓琳,周南,黄正瑜,曹昊天..改进RRT在汽车避障局部路径规划中的应用[J].湖南大学学报（自然科学版）,2017,44(4):30-37,8.基金项目
国家自然科学基金资助项目(51175159,51575169),National Natural Science Fundation of China(51175159,51575169) （51175159,51575169）
