An Improved Path Planning Algorithm for Mobile Robots
To solve the problems of invalid sampling and non-optimal paths of the RRT,the quasi-stream avoidance algorithm is proposed.The RRT algorithm is introduced to specify the sampling interval to limit the sampling points and enhance the goal-oriented nature of sampling.The quasi-stream avoidance algorithm incorporating the A* algorithm(QSA*)is used to quickly bypass the obstacle when it is encountered.A path optimization algorithm is used to smooth the searched path.The simulation results show that compared with the RRT algorithm,the computation time of the RRT-QSA* algorithm is reduced by 96.83％～99.88％,the number of search nodes is reduced by 86.62％～96.01％,the number of path lengths is reduced by 9.9％～16.7％,and the turning angle decreased by 80.93％～93.04％.The RRT-QSA* algorithm shows a more intense improvement in computational efficiency than the RRT algorithm as the map size increases.
mobile robotspath planningRRTpath optimizationTurtlebot2
万方数据
维普
