计算机工程与应用2025，Vol.61Issue(4)：331-338,8.DOI:10.3778/j.issn.1002-8331.2310-0006
改进RRT算法的机器人全局路径规划
Robot Global Path Planning Based on Improved RRT Algorithm
摘要
Abstract
Aiming at the problems of the RRT(rapidly exploring random tree)path planning algorithm,such as large search range,poor goal guidance,local minimum and tortuous path,an improved RRT path planning algorithm with limited adaptive sampling area is proposed.The search space is divided into uniform levels,and the sampling area is dynamically adjusted according to the level of new node and the number of sampling points in the level,so as to reduce the search range.The new node improvement strategy is used to make the random tree adjust to the target point adaptively according to the environment information and change the expansion step to generate new nodes.Then the obstacle avoidance strategy is used to increase the target orientation and obstacle avoidance performance of the algorithm.The improved inverse opti-mization and cubic B-spline curve which inserts nodes and reduces the turning angle are used to optimize the path.Com-pared with RRT algorithm,the search time and iteration times of this algorithm are reduced by more than 70%in different path environments,and the optimized path is shorter and smoother.关键词
RRT路径规划算法/采样区域/障碍物躲避策略/路径规划/路径优化Key words
RRT path planning algorithm/sampling area/obstacle avoidance strategy/path planning/path optimization分类
信息技术与安全科学引用本文复制引用
崔锡杰,王晓军,李晓航..改进RRT算法的机器人全局路径规划[J].计算机工程与应用,2025,61(4):331-338,8.基金项目
上海市自然科学基金(21ZR1426100). （21ZR1426100）
