计算机应用研究2026，Vol.43Issue(6)：1740-1745,6.DOI:10.19734/j.issn.1001-3695.2025.08.0424
基于多策略引导和自适应扩展的RRT*三维路径规划算法
RRT* path planning algorithm based on multi-strategy guided and adaptive exploration in three-dimensional environments
摘要
Abstract
This paper developed an MR-RRT*algorithm to improve path safety and efficiency in complex three-dimensional environments.The algorithm adopted a bidirectional expansion mechanism to reduce the number of iterations.It used a dynamic probability function to adaptively adjust the target bias for different exploration stages.An improved artificial potential field method guided tree expansion.The repulsive force between the sampling and goal points helped avoid local minima.The re-pulsion strength was controlled through parameter adjustment.In the post-optimization phase,a greedy pruning algorithm re-moved redundant nodes.B-spline smoothing generated a continuous and feasible final trajectory.Simulation results show that,compared with several classical RRT*variants,the MR-RRT*algorithm reduced the average number of nodes by 54.25％～85.73％and increased the average safety distance by 74.75％～93.18％.It also achieves shorter path length and lower com-putation time.Overall,the algorithm improves the efficiency,robustness,and safety of path planning.关键词
路径规划/快速探索随机树算法/动态概率函数/人工势场法/贪婪算法Key words
path planning/RRT*/dynamic probability function/artificial potential field method/greedy algorithm分类
信息技术与安全科学引用本文复制引用
于现凯,刘德胜,张燕..基于多策略引导和自适应扩展的RRT*三维路径规划算法[J].计算机应用研究,2026,43(6):1740-1745,6.基金项目
黑龙江省优秀青年教师基础研究支持计划(YQJH2023219) （YQJH2023219）
佳木斯大学校级重点项目(SZDYF202302) （SZDYF202302）
