机械科学与技术2025，Vol.44Issue(8)：1344-1350,7.DOI:10.13433/j.cnki.1003-8728.20230313
BITO-RRT*全局路径规划算法研究
Research on BITO-RRT* Global Path Planning Algorithm
摘要
Abstract
The BITO-RRT*(Bidirectional traversal optimization RRT*)algorithm is proposed to solve the problem of insufficient planning stability under different environments when the robot global path planning algorithm must increase the convergence rate.Firstly,the bidirectional growth strategy of target bias and direct detection is introduced to accelerate the convergence rate and obtain the initial solution.Then the direct path is optimized by traversal optimization step.Finally,the parent node is reselected in the asymptotic convergence region to shorten the path length and smooth the path.In different complexity environments,BITO-RRT* algorithm compared with RRT,RRT* and Informed-RRT* three algorithms,all showed excellent comprehensive performance,and the path planning success rate of 4 types of algorithms in complex environments was 90%,55%,57%and 58%respectively.It is proved that the BITO-RRT* algorithm not only improves the path convergence speed,but also has better path quality and planning stability than other algorithms under limited sampling times.关键词
全局路径规划/BITO-RRT*算法/目标偏置/双向生长/遍历寻优Key words
global path planning/BITO-RRT*algorithm/target bias/bidirectional growth/traversal optimization分类
信息技术与安全科学引用本文复制引用
卢宝勇,顾寄南,王文波,季晨,范天浩,左宇,侯征辉..BITO-RRT*全局路径规划算法研究[J].机械科学与技术,2025,44(8):1344-1350,7.基金项目
江苏省重点研发计划-重点项目(BE2021016)与江苏大学农业装备学部重点项目(NZXB20210104) （BE2021016）
