计算机工程与应用2026，Vol.62Issue(17)：96-104,9.DOI:10.3778/j.issn.1002-8331.2510-0325
动态风险场引导RRT*算法的无人车辆路径规划研究
Dynamic Risk Field Guided RRT* Algorithm for Unmanned Ground Vehicle Path Planning
摘要
Abstract
To address the issues of low efficiency and ineffective mobile obstacle avoidance of the RRT* algorithm in dynamic environments,an adaptive dynamic risk-propagating RRT star(ADRP-RRT*)algorithm is proposed.This algo-rithm constructs a risk field to quantify the threat of dynamic obstacles,utilizes a risk field guided dynamic artificial poten-tial field to rapidly generate an initial path,and constrains the search within a dynamic elliptical sampling area built upon the initial path.Within this area,iterative optimization is performed by combining a risk aware RRT* optimization mecha-nism with a dynamic step-size strategy.Simulation results indicate that,compared with algorithms such as RRT* and APF-IRRT*,the proposed algorithm significantly improves convergence speed and operational efficiency while ensuring path safety and optimality,and is capable of effectively planning safe paths that avoid dynamic obstacles.关键词
路径规划/动态风险场/RRT*算法/动态避障/无人车辆Key words
path planning/dynamic risk/RRT* algorithm/dynamic obstacle avoidance/unmanned ground vehicle分类
信息技术与安全科学引用本文复制引用
贾毅栋,张子斌,赵明明..动态风险场引导RRT*算法的无人车辆路径规划研究[J].计算机工程与应用,2026,62(17):96-104,9.基金项目
国家自然科学基金重点项目(62436004). （62436004）
