计算机工程与应用2024，Vol.60Issue(15)：344-354,11.DOI:10.3778/j.issn.1002-8331.2312-0213
改进RRT-Connect与DWA算法的巡检机器人路径规划研究
Research on Path Planning of Inspection Robot with Improved RRT-Connect and DWA Algorithm
摘要
Abstract
Aiming at the problems of low efficiency of traditional RRT-Connect algorithm in path planning and poor dynamic obstacle avoidance in dense and complex environment,an improved RRT-Connect and DWA fusion algorithm is pro-posed.The algorithm guides the growth of random trees by improving sampling strategy,dynamic step optimization and collision detection.Greedy strategy and angle constraint are used to optimize paths in random trees.Based on the kine-matics model of the inspection robot,the trajectory cluster is generated through the velocity sampling space.The fuzzy logic system adaptively adjusts the weight coefficient of the evaluation function of DWA algorithm,and integrates the global optimal path point into DWA algorithm to realize the global optimal path and real-time obstacle avoidance.The simulation results show that in the dense and complex environment of oil and gas station,the improved RRT-Connect algo-rithm shorths the path by 27.09%,improves the smoothness by 84.6%,and increases the collision distance by 18.75%compared with the traditional algorithm.The improved fusion algorithm reduces the path by about 2.97%,increases the smoothness by about 78.8%,and increases the collision distance by about 30.6%,which verifies the effectiveness of the proposed algorithm.关键词
路径规划/改进RRT-Connect算法/DWA算法/融合算法Key words
path planning/improved RRT-Connect algorithm/dynamic window approach(DWA)algorithm/fusion algorithm分类
信息技术与安全科学引用本文复制引用
罗征志,韩怡可,张鑫,邹宇博..改进RRT-Connect与DWA算法的巡检机器人路径规划研究[J].计算机工程与应用,2024,60(15):344-354,11.基金项目
国家重点实验室开放课题项目(2021ZJKF13121410000100). （2021ZJKF13121410000100）
