Improved Informed-RRT* Based Path Planning Algorithm
An improved Informed-RRT* algorithm is proposed to address the problems of blindness,slow convergence and low optimization efficiency of the Informed-RRT* algorithm in path planning.First,a two-way greedy search is introduced when finding the initial path,which speeds up the initial path finding rate.Then,adaptive step size is introduced in the tree growth process instead of fixed step size for growth,so that the algorithm can find better paths in the face of different environments.Finally,lazy sampling is used instead of the original random sam-pling to remove the useless nodes before the algorithm is processed,which reduces the operational pressure of the algorithm and also speeds up the convergence of the algorithm.The experimental results show that the optimized algorithm can quickly find a better path in the face of the complex environment.
国家科技期刊平台
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