Research on Dynamic Path Programming Based on BD-RRT Algorithm
Aiming at the problems of unsmooth path planning,redundant path generation,long planning time and inapplicable dynamic environment of Bi-RRT algorithm,the research of dynamic path planning based on BD-RRT(bidirectional-dynamic-RRT)algorithm is carried out to solve the obstacle avoidance problem when obstacles change in actual scenes.In terms of path growth,a dynamic step growth strategy is proposed to improve the sampling accuracy of points near obstacles and reduce sampling points to enhance the explora-tion ability of the algorithm.When the environment changes,the dynamic RRT algorithm is introduced,which can prune the nodes with collisions in the first planning path,and continue to replan on the basis of collision-free nodes.B-spline curves are used to smooth the generated path to reduce energy consumption.The simula-tion results show that in the static environment,the BD-RRT algorithm can generate shorter and more effec-tive paths than other traditional algorithms,the path planning time is shorter,the generated paths are smoot-her,and the average path planning length and time are 21.1%and 95.3%of the Bi-RRT algorithm,respec-tively,which proves the effectiveness of the improvement.In the dynamic environment,the average replan-ning time and path length of the BD-RRT algorithm are shorter than that of Extended-RRT,which is only 5.2%and 95.8%of the algorithm,which has better practicability in the dynamic environment.
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