计算机工程与科学2023，Vol.45Issue(12)：2237-2245,9.DOI:10.3969/j.issn.1007-130X.2023.12.015
基于信息启发的目标导向Bi-RRT机器人路径规划
Robot path planning of goal-directed Bi-RRT based on information inspiration
摘要
Abstract
Aiming at the problems of low efficiency and rough path planning due to the randomness and blindness of node expansion in Bi-directional rapidly-exploring random tree algorithm,this paper proposes a goal-directed Bi-RRT algorithm based on information inspiration.In order to reduce the ran-domness and blindness of node expansion,the tree node expansion method is optimized.The node infor-mation generated by regression analysis is used to optimize the extended node evaluation function to strengthen the target tropism of node growth,and the expansion direction is constrained by node and en-vironmental cost.The redundant nodes in the initial path are eliminated by branch and bound method,and the path satisfying the maximum steering Angle constraint is obtained.The cubic B-spline curve is used to smooth the path to improve the smoothness and continuity of the path.Finally,the proposed al-gorithm is compared with other classical algorithms in different environments based on the MATLAB simulation platform,and the experimental results verify the effectiveness and enforceability of the pro-posed algorithm.关键词
路径规划/快速搜索随机树/信息启发/路径优化Key words
path planning/rapidly-exploring random tree/information inspiration/path optimization分类
信息技术与安全科学引用本文复制引用
李中华,袁杰,郭振宇..基于信息启发的目标导向Bi-RRT机器人路径规划[J].计算机工程与科学,2023,45(12):2237-2245,9.基金项目
国家自然科学基金(62263031,62073227,61863033) （62263031,62073227,61863033）
新疆维吾尔自治区自然科学基金(2022D01C53) （2022D01C53）
