Hierarchical Structure Route Planning Strategy Based on RRT*Algorithm and DWA Algorithm
To optimize route planning in complex dynamic environments,and improve the efficiency and shorten the route plan-ning time,a hierarchical structure route planning strategy based on improved rapidly-exploring random tree(RRT*)algorithm and dynamic window approach(DWA)algorithm is proposed.The hierarchical planning strategy is composed of two layers:the global route planning layer and local route planning layer.The global layer adopts the improved RRT*algorithm to implement the global route planning by the the information on the static obstacles.Simultaneously,the planning strategy will be activated when unknown obstacles appear in the route.Based on the acquired information on the dynamic obstacles,the DWA algorithm is used to acquire the local route planning.By integrated the global and local route planning strategies,the final feasible route is obtained.Simulation re-sults show this strategy can efficiently achieve route planning in complex dynamic environments.
万方数据
维普
