Path Planning of Mobile Robot Based on RRT-BZD Algorithm
In order to solve the problems of low efficiency and non-optimal path of traditional RRT algorithm in mobile robot path planning,an improved RRT-BZD algorithm was proposed,which improved the convergence speed of RRT algorithm and the search efficiency of the algorithm.The improved RRT-BZD algorithm accelerates the convergence speed of path planning,reduces the running time of the algorithm,and uses Bessel interpolation to make the final path smoother by setting the adaptive target bias strategy and pruning redundant nodes.Experiments on the algorithms in different scenarios are carried out in the MATLAB simulation environment,and the experiments show that the path cost of the improved RRT-BZD algorithm in this paper is reduced by 7.93％and the calculation time is reduced by 20.28％compared with the traditional RRT algorithm,which verifies the effectiveness and feasibility of the improved algorithm.
mobile robotpath planningfast search for random treestarget bias
NETL
NSTL
万方数据
维普
