南阳师范学院学报2024，Vol.23Issue(1)：58-63,6.
改进的RRT算法在路径规划中的应用
Application of improved RRT algorithm in path planning
摘要
Abstract
The Random Tree path generated by RRT(Rapid Random Tree)algorithm has randomness,and its planned path is relatively long.This paper puts forward an improved RRT algorithm.The new algorithm improves the random tree node generation,guides the probability of random tree node generation,selects the generated new node by introducing the idea of artificial potential field,and makes it generate in the direction of the target,so as to get the desired node.After the node of the random tree is obtained,the strategy for smoothing random tree paths is proposed.By this method,the random tree path tends to be relatively smooth and shortens the length of planned path.Through many comparative experiments,it can be concluded that the improved RRT al-gorithm can plan shorter paths than the unimproved algorithm,and has better real-time performance,which has certain practicability.关键词
路径规划/改进的 RRT算法/移动机器人Key words
path planning/improved RRT algorithm/mobile robot分类
信息技术与安全科学引用本文复制引用
邵伟伟,朱云国,胡超..改进的RRT算法在路径规划中的应用[J].南阳师范学院学报,2024,23(1):58-63,6.基金项目
安徽省高等学校省级质量工程项目(2022zygzts118) （2022zygzts118）
安徽省高校科研计划项目(2022AH030152) （2022AH030152）
安徽省高校协同创新项目(GXXT-2022-021) （GXXT-2022-021）
铜陵学院自然科学项目(2022tlxy43) （2022tlxy43）
