期刊 基于改进RRT路径规划算法  被引量:1

Path Planning Algorithm Based on Improved RRT

作  者:李金良[1] 舒翰儒 刘德建 徐磊 

LI Jin-liang;SHU Han-ru;LIU De-jian;XU Lei(College of Mechanical and Electronic Engineering, Shandong University of Science and Technology , Qingdao Shandong , 266560, China)

机构地区:[1]山东科技大学机械电子工程学院,山东青岛266560

出  处:《组合机床与自动化加工技术》2021年第2期22-24,29,共4页Modular Machine Tool & Automatic Manufacturing Technique

Path Planning Algorithm Based on Improved RRT

基  金:国家重点研发计划(2018YFC0604702);山东省中青年科学家科研奖励基金资助项目(ZR2018BEE014)。

摘  要:针对基本RRT算法路径规划特点:树的扩展具有随机性,路径中存在冗余的节点,规划出的路径拐角多。因此,提出一种改进的RRT算法。改进后的算法首先采用目标偏向策略,以一定的概率P把目标点作为采样点进行随机树扩展,提高随机树向目标点的扩展的概率;其次,改变度量函数,添加了角度约束,减少了路径规划中搜索的范围,以减少搜索时间;最后,通过贪心算法对路径进行简化,并对简化后的节点采用三次B样条曲线进行优化。结果证明改进后的RRT算法搜索时间更少,搜索路径更短,平滑性更高。

Based on the basic RRT algorithm path planning features:tree expansion is random,there are redundant nodes in the path,and the planned path has many corners.Therefore,an improved RRT algorithm is proposed.The improved algorithm first adopts the target bias strategy,and uses a certain probability P to take the target point as a sampling point for random tree expansion to improve the probability of the random tree's expansion to the target point.Second,the metric function is changed,and angular constraints are added to reduce The scope of the search in path planning to reduce the search time;finally,the path is simplified by a greedy algorithm,and the simplified nodes are optimized using a cubic B-spline curve.The results prove that the improved RRT algorithm has less search time,fewer search paths,and higher smoothness.

关 键 词:RRT算法 路径规划 目标偏向策略 三次B样条曲线 

RRT algorithm path planning target bias strategy cubic B-spline curve 

分 类 号:TH16[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]

 

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