中北大学学报（自然科学版）2024，Vol.45Issue(2)：122-131,10.DOI:10.3969/j.issn.1673-3193.2024.02.001
基于改进人工势场法的RRT*无人船路径规划算法
RRT* Unmanned Ship Path Planning Algorithm Based on Improved Artificial Potential Field Method
摘要
Abstract
In order to make RRT* better adapt to a variety of different complexity environments and quickly generate a smooth optimal path,this paper introduced artificial potential field method based on RRT* algorithm,and designed RRT* algorithm based on improved artificial potential field method.The global map was divided for partition bias sampling.Then,the node expansion method was improved,and the obstacle size factor was introduced to improve the repulsion potential field function,so the generation of new nodes was guided.Through introducing the adaptive variable step size strategy,the path points was expanded with different step sizes according to the distance from the obstacle.To make the planned path more in line with the navigation characteristics of unmanned ships,non-uniform cubic B-spline was used to smooth the path generated by the improved algorithm.In order to verify the advantages of the improved algorithm of this paper,by designing special obstacles,simple obstacles and complex obstacles,RRT,RRT*,artificial potential field method and the algorithm of this paper was compared and analyzed.The results show that the improved algorithm generation path average length is shorter than RRT,RRT*and artificial potential field method planning path length,the path planning efficiency is higher,and have better applicability to different obstacle environment.关键词
无人船/RRT*/人工势场法/三次非均匀B样条/路径规划Key words
unmanned ship/RRT*/artificial potential field method/non-uniform cubic B-spline/path planning分类
交通工程引用本文复制引用
周卫祥,许继强..基于改进人工势场法的RRT*无人船路径规划算法[J].中北大学学报（自然科学版）,2024,45(2):122-131,10.基金项目
上海市启明星培育(扬帆专项)资助项目(22YF1416100) （扬帆专项）
国家自然科学基金青年科学基金项目资助(62203293) （62203293）
