| 一种改进的双向快速搜索随机树算法 |
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| 引用本文： | 徐秉超,严华.一种改进的双向快速搜索随机树算法[J].科学技术与工程,2020,20(19):7765-7771. |
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| 作者姓名： | 徐秉超 严华 |
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| 作者单位： | 四川大学电子信息学院,成都610065;四川大学电子信息学院,成都610065 |
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| 摘 要： | 针对快速搜索随机树(RRT)算法随机性大、效率低的问题,提出了一种改进的双向RRT算法。该算法采用预生长机制,快速通过前期无障碍区域;以重要程度划分障碍物,减小势场计算规模,提高路径规划的避障效率;同时采用基于欧氏距离的筛选机制对随机点进行遴选,减少在低可能路径区域的生长。最后在仿真环境下进行实验,验证了所提算法的可行性和有效性。
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| 关 键 词： | 路径规划 快速搜索随机树 人工势场 随机点筛选 |
| 收稿时间： | 2019/10/8 0:00:00 |
| 修稿时间： | 2020/3/3 0:00:00 |
An Improved Bidirectional RRT Algorithm |
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| Xu Bingchao,Yan Hua.An Improved Bidirectional RRT Algorithm[J].Science Technology and Engineering,2020,20(19):7765-7771. |
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| Authors: | Xu Bingchao Yan Hua |
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| Institution: | College of Electronics and Information Engineering,Sichuan University |
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| Abstract: | An improved bidirectional RRT algorithm is proposed to solve the problem of high randomness and low efficiency of Rapid-exploring Random Tree algorithm (RRT). In the early stage of the improved algorithm, new nodes are grown in a straight line way to pass through the initial barrier-free area quickly. Important obstacle repulsion is adopted to improve the obstacle avoidance efficiency of path planning. At the same time, random point selection policy is used to screen points to reduce the growth in low-probability path areas. Finally, the feasibility and validity of the proposed algorithm are verified by experiments in the simulation environment. |
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| Keywords: | Path planning RRT Artificial potential field Random point selection |
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