| 基于快速RRT算法的三维路径规划算法研究 |
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| 引用本文： | 李兆强,张时雨.基于快速RRT算法的三维路径规划算法研究[J].系统仿真学报,2022,34(3):503-511. |
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| 作者姓名： | 李兆强 张时雨 |
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| 作者单位： | 西安建筑科技大学 信息与控制工程学院，陕西 西安 710000 |
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| 基金项目： | 陕西省教育厅基金(14JK1404);西安建筑科技大学校青年科技基金(RC1244) |
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| 摘 要： | RRT(rapidly exploring random tree)算法是一种基于采样的路径规划算法,可以在高维环境中搜索出一条路径.传统的RRT算法存在节点利用率低、计算量偏大的问题.针对这些问题,基于快速RRT*(Quick-RRT*)算法,通过优化重选父节点与剪枝范围策略、改进采样方式、引入自适应步长,对快速RR...
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| 关 键 词： | 路径规划 改进Quick-RRT*算法 节点连接筛选 自适应步长 |
| 收稿时间： | 2020-10-28 |
Research on 3D Path Planning Algorithm Based on Fast RRT Algorithm |
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| Zhaoqiang Li,Shiyu Zhang.Research on 3D Path Planning Algorithm Based on Fast RRT Algorithm[J].Journal of System Simulation,2022,34(3):503-511. |
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| Authors: | Zhaoqiang Li Shiyu Zhang |
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| Institution: | School of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710000, China |
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| Abstract: | RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick RRT*) algorithm is improved by optimizing the strategy of reselection of parent node and pruning range, improving the sampling method and introducing adaptive step size, which makes the algorithm time-consuming and path length shorter. At the same time, the node connection screening strategy is added to eliminate the excessive turning angle in the path. Experimental results show that the improved algorithm can quickly find the shortest collision free path in three-dimensional environment, and the running time is greatly reduced. |
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| Keywords: | path planning improved Quick RRT(rapidly exploring random tree)* algorithm the node connection screening strategy adaptive step-size |
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