Research on Improved RRT Path Planning Algorithm Based on Two-Time Steer Angel Constraint
Aiming at the problems that the Rapid-exploration Random Tree(RRT)algorithm is easy to lead to node expansion redundancy and the generated path does not meet the vehicle rotation angle constraint,an improved secondary rotation angle constraint RRT algorithm is proposed.Based on the traditional RRT algorithm,the sampling space is first cut,and the target offset strategy is introduced to reduce the sampling time.Then,the vehicle expansion processing and the straight line method are used to detect the obstacle collision,and the first rotation angle constraint is introduced to obtain the coarse solution path.Then,the secondary angle constraint optimization processing is established for the rough solution path,and the vehicle optimization path is obtained and fitted,and the simulation verification is carried out.The results show that compared with the biased RRT algorithm with the goal-oriented strategy,the maximum curvature of the path is reduced by 34.33％,the average curvature is reduced by 47.36％,the number of extended nodes is reduced by 47.62％,the path distance is reduced by 7.76％,and the planning time is reduced by 14.98％.
万方数据
维普
