工程设计学报2023，Vol.30Issue(6)：707-716,10.DOI:10.3785/j.issn.1006-754X.2024.03.141
基于改进RRT算法的避障路径规划
Obstacle avoidance path planning based on improved RRT algorithm
摘要
Abstract
Aiming at the problems of rapidly-exploring random tree(RRT)algorithm in obstacle avoidance path planning,such as weak adaptability to maps,poor sampling quality,many invalid nodes,long planning time and poor path quality,an improved RRT algorithm was proposed.Firstly,on the basis of the traditional RRT algorithm,the map complexity evaluation strategy was used to calculate the appropriate step size and bias probability,so as to realize the self-adaptation to different maps.Then,through the dynamic update strategy of sampling area,the random tree was sampled in the effective area to ensure the positive growth.After the sampling area was determined,the sampling point optimization strategy was adopted to improve the effectiveness of sampling points and make the random tree grow near the target points.Finally,the node reconnection strategy was used to optimize the planned initial obstacle avoidance path,and an obstacle avoidance path with fewer bending times was obtained.The feasibility of the improved RRT algorithm was verified in Python and MATLAB environments.The results showed that the improved RRT algorithm could quickly plan a collision-free high-quality path for maps with different complexity and when applied to robotic arms.The research results can provide reference for improving efficiency of robot obstacle avoidance path planning.关键词
路径规划/快速搜索随机树算法/采样区域动态更新/采样点优化/节点重连Key words
path planning/rapidly-exploring random tree algorithm/dynamic update of sampling area/sampling point optimization/node reconnection分类
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冯垚,周志峰,沈亦纯,王立端..基于改进RRT算法的避障路径规划[J].工程设计学报,2023,30(6):707-716,10.基金项目
上海市2022年度"科技创新行动计划"优秀学术/技术带头人计划项目(22XD1433500) （22XD1433500）
