Path Planning Combining Rolling Window and Improved RRT Algorithm
RRT algorithm is used in path planning in unknown environments,and it has shortcom-ings such as lack of goal-oriented and difficult to generate optimal solutions.Appropriate improve-ments are made to RRT algorithm,and heuristic functions are introduced into RRT algorithm to make RRT algorithm goal-oriented in path planning,which overcomes the randomness of RRT algorithm di-rection and reduces the length of planned path.The rolling window method has the characteristics of re-al-time exploration and rolling planning,and it is often applied to the path planning of mobile robots in unknown environments.The improved RRT algorithm is used in the rolling window for path planning,so that the method can carry out path planning in unknown environments.Through many experiments,it can be seen that the path planned through this algorithm is short and real-time.
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