计算机工程与应用2019，Vol.55Issue(16)：10-17,8.DOI:10.3778/j.issn.1002-8331.1905-0061
机器人路径规划的快速扩展随机树算法综述
Summary of Rapidly-Exploring Random Tree Algorithm in Robot Path Planning
摘要
Abstract
Path planning is a vital research content of mobile robot technology. Rapidly-Exploring Random Tree(RRT) algorithm has been studied and developed since it was proposed because of its successful application in robot path plan-ning. As a novel random node sampling algorithm, compared with traditional algorithms, the rapidly-exploring random tree has the characteristics of short modeling time, robust search ability and convenience to add nonholonomic constraints. This paper introduces the basic principle and properties of the rapidly-exploring random tree algorithm, summarizes the research status of the algorithm from the aspects of single random tree extension, multiple random tree extension and other improvements. Finally, the future research directions and challenges of the algorithm are prospected.关键词
机器人路径规划/快速扩展随机树/随机采样算法/非完整约束Key words
robot path planning/ rapidly-exploring random tree/ random sampling algorithm/ nonholonomic constraint分类
信息技术与安全科学引用本文复制引用
陈秋莲,蒋环宇,郑以君..机器人路径规划的快速扩展随机树算法综述[J].计算机工程与应用,2019,55(16):10-17,8.基金项目
国家自然科学基金(No.71371058,No.61363026). （No.71371058,No.61363026）
