软件导刊2024，Vol.23Issue(7)：80-86,7.DOI:10.11907/rjdk.231767
基于改进Informed-RRT*的路径规划算法
Improved Informed-RRT* Based Path Planning Algorithm
姚凯文 1周锋 1李楠 1王如刚1
作者信息
- 1. 盐城工学院 信息工程学院,江苏 盐城 224051
- 折叠
摘要
Abstract
An improved Informed-RRT* algorithm is proposed to address the problems of blindness,slow convergence and low optimization efficiency of the Informed-RRT* algorithm in path planning.First,a two-way greedy search is introduced when finding the initial path,which speeds up the initial path finding rate.Then,adaptive step size is introduced in the tree growth process instead of fixed step size for growth,so that the algorithm can find better paths in the face of different environments.Finally,lazy sampling is used instead of the original random sam-pling to remove the useless nodes before the algorithm is processed,which reduces the operational pressure of the algorithm and also speeds up the convergence of the algorithm.The experimental results show that the optimized algorithm can quickly find a better path in the face of the complex environment.关键词
路径规划/Informed-RRT*/自适应步长/移动机器人Key words
path planning/Informed-RRT*/adaptive step size/mobile robot分类
信息技术与安全科学引用本文复制引用
姚凯文,周锋,李楠,王如刚..基于改进Informed-RRT*的路径规划算法[J].软件导刊,2024,23(7):80-86,7.
