Global Path Planning Based on Improved RRT-Connect Algorithm
Aiming at the problems of RRT-Connect algorithm in path planning in complex environment,such as weak exploration,slow convergence,many redundant nodes and long search path,an improved RRT-Connect algorithm is proposed.By introducing high quality random points and dynamic step size method,the quality of generating random tree is improved and the number of redundant nodes is reduced.The method of forward searching and reverse greedy is adopted to solve the problem of long search path.The experimental results show that the average path planning time of the improved RRT-Connect algorithm is shortened by 26.41%,the average path planning length is shortened by 19.05%,and the average number of path planning nodes is reduced by 41.91%,which proves that the improved RRT-Connect algorithm has higher planning efficiency and less planning time than the original algorithm.The quality of the planned path is better.
NETL
NSTL
万方数据
维普
