测试科学与仪器2023，Vol.14Issue(1)：55-65,11.DOI:10.3969/j.issn.1674-8042.2023.01.007
基于蚁群的环境分区目标偏置RRT算法路径规划
Path planning using ant colony based environment partition target-biased RRT algorithm
摘要
Abstract
Aiming at the problems of large randomness,long search time and tortuous path in the path planning by means of rapidly-exploring random tree(RRT)in a fusion environment of complex areas with multiple obstacles and open areas with few obstacles,an ant colony optimization target-biased RRT algorithm based on environmental partitions is proposed.Firstly,the random probability sampling based on the environment is combined with the target bias expansion strategy of the artificial potential field to improve the algorithm's convergence speed and enhance the algorithm's search ability.Then,in order to solve the problem of tortuous planning path and many redundant points,an improved ant colony optimization path is proposed and combined with jumping point screening strategy and cubic B-spline to eliminate redundant points to smooth the final path.Finally,the improved algorithm is compared and analyzed with the A-star algorithm and the target biased RRT algorithm.The simulation results show that the improved algorithm reduces the node consumption by 54.8％and the time by 75.88％averagely,which verifies the effectiveness of the algorithm.关键词
路径规划/快速扩展随机树/目标偏向/随机概率采样/蚁群系统/跳点筛选/三次B样条Key words
path planning/rapidly-exploring random tree(RRT)/target bias/random probability sampling/ant colony system/jump point screening/cubic B-spline引用本文复制引用
刘挺,王晓燕,康智强..基于蚁群的环境分区目标偏置RRT算法路径规划[J].测试科学与仪器,2023,14(1):55-65,11.基金项目
Natural Science Foundation of Shaanxi Province(No.2019JM-286) （No.2019JM-286）
