计算机与数字工程2019，Vol.47Issue(8)：1941-1946,6.DOI:10.3969/j.issn.1672-9722.2019.08.020
基于多安全度模型的改进RRT路径规划方法
Improved RRT Path Planning Method Based on Multiple Security Models
朱旻华 1任明武1
作者信息
- 1. 南京理工大学计算机科学与工程学院 南京 210094
- 折叠
摘要
Abstract
Path planning is the key part of decision-making in the autonomous vehicle system. Due to its low complexity and fast searching speed,the rapidly-expanding random tree(RRT)has been widely used. However,its randomness also results in low efficiency of the algorithm and poor planning path quality. In addition,many path planning algorithms do not consider the risk of dif?ferent obstacles. Therefore,based on the RRT algorithm,this paper introduces the artificial potential field method,proposes an im?proved RRT path planning method based on multiple safety models,and optimizes the planning path to improve the convergence speed of the algorithm and ensure the path security to get an optimal solution. Simulation results show the effectiveness of the algo?rithm.关键词
路径规划/快速扩展随机树/人工势场/路径优化Key words
path planning/rapidly-expanding random tree/artificial potential field/path optimization分类
机械制造引用本文复制引用
朱旻华,任明武..基于多安全度模型的改进RRT路径规划方法[J].计算机与数字工程,2019,47(8):1941-1946,6.
