湖北汽车工业学院学报2025，Vol.39Issue(2)：7-11,18,6.DOI:10.3969/j.issn.1008-5483.2025.02.002
基于改进Informed-RRT*与APF的融合路径规划算法
Path Planning Algorithm Integrating Improved Informed-RRT* and APF
陈进元 1董秀娟 1兰建平 1杨亚会1
作者信息
- 1. 湖北汽车工业学院 汽车工程师学院,湖北 十堰 442002
- 折叠
摘要
Abstract
In view of the low initial path planning efficiency,slow convergence speed,and poor path op-timization effect of the Informed-RRT* algorithm,an improved path planning algorithm integrating In-formed-RRT* and APF(I-RRT*APF)was proposed.The RRT-Connect algorithm was introduced to improve the efficiency of initial path planning,and the improved APF enhanced the directionality of node expansion.The dynamic step size strategy was adopted to improve the path search efficiency,and the smoothness of the path was optimized by a cubic B-spline curve.The results show that in complex road environments,the path length planned by I-RRT*APF is reduced by 7.25%,and the planning time is reduced by 11.28%.关键词
Informed-RRT*/RRT-Connect/APF算法/动态步长/三次B样条曲线Key words
Informed-RRT*/RRT-Connect/APF algorithm/dynamic step size/cubic B-spline curve分类
信息技术与安全科学引用本文复制引用
陈进元,董秀娟,兰建平,杨亚会..基于改进Informed-RRT*与APF的融合路径规划算法[J].湖北汽车工业学院学报,2025,39(2):7-11,18,6.
