融合滚动窗口与改进RRT算法的路径规划
Path Planning Combining Rolling Window and Improved RRT Algorithm
邵伟伟 1王金龙 1胡超1
作者信息
- 1. 铜陵学院 电气工程学院,安徽 铜陵 244000
- 折叠
摘要
RRT算法在未知环境下规划路径,具有缺少目标导向性和不易产生最优解等缺点.对RRT算法进行适当改进,在RRT算法中引入启发函数,使RRT算法在路径规划时具有目标导向性,从而克服了RRT算法方向的随机性问题,优化了规划路径.滚动窗口具有实时探索、滚动规划的特点,常运用在未知环境下移动机器人的路径规划.在滚动窗口里运用改进的RRT算法在未知路径环境下进行路径规划实验,结果显示该算法所规划的路径较短,实时性强.
Abstract
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.
关键词
路径规划/未知环境/RRT算法/滚动窗口/移动机器人Key words
path planning/unknown environment/RRT algorithm/rolling window/mobile robot引用本文复制引用
基金项目
安徽省高校科研项目(2023AH040231)
铜陵学院自然科学研究项目(2022tlxy43)
出版年
2024
NETL
NSTL
万方数据