Path Planning of Robot Based on Improved FMT?Algorithm
In order to solve the problems of slow convergence speed and low efficiency of path optimization of FMT∗ algorithm in the process of path planning,this paper proposes an informed fast marching tree(HIFMT∗)algorithm based on heuristic function.HIFMT∗algorithm divides path planning into two stages:initial path finding and path optimization.In the initial path finding stage,heuristic function is introduced to speed up the convergence of the algorithm.In the path optimization stage,the redundant nodes of the initial path are removed for initial optimization,and then the processed path is optimized in an informed way until the finally generated path is the optimal path.Compared with the FMT∗algorithm and BBI-FMT∗algorithm,the simulation results of HIFMT∗algorithm in two-dimensional maps show that the speed of finding the opti-mal solution is increased by 75.73%and 68.35%,53.25%and 29.44%respectively in regular obstacle envi-ronment and chaotic obstacle environment,which verifies the effectiveness of HIFMT∗algorithm.
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