RRT algorithm based path planning method

A technology of random search and path planning, applied in two-dimensional position/channel control and other directions, it can solve the problems of large path redundancy, increased path length, and many turns, reducing the number of tree nodes and reducing redundancy. node, easy-to-walk effect

Inactive Publication Date: 2017-08-18
BEIHANG UNIV
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Problems solved by technology

[0005] In the path planning problem, when evaluating the pros and cons of a path planning algorithm, consider the length of the path generated by the algorithm and the calculation time of the algorithm. Compared with other path planning methods, the calculation time of the RRT algorithm is relatively short and the performance is excellent. , but the path redundancy generated by it is relatively large, and t...

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  • RRT algorithm based path planning method
  • RRT algorithm based path planning method

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Embodiment Construction

[0033] Such as figure 2 Shown, the specific implementation steps of the present invention are described in detail as follows:

[0034] Step 1: Use the slam algorithm or other mapping algorithms to obtain the map information of the current environment, pass in the image in .pgm format, call the opencv library function imread() to read in the form of gray value, and get the matrix variable of opencv Mat, and then convert it into a two-dimensional array according to the gray value of each pixel. If the gray value is greater than 240, make it 0, otherwise it is 1. 0 means you can pass, 1 means there is an obstacle, The binarization process is completed;

[0035] Step 2: Given the start point and end point, if the location of the robot has been located by a positioning algorithm such as SLAM, then the start point is the current point of the robot, and the end point is the target point. Let the coordinate point of the starting point be the root node of the tree, set its parent no...

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Abstract

The invention discloses an RRT (Rapidly exploring Random Tree) algorithm based path planning method. On the basis of the classic algorithm, pruning operation is performed and tiny branches on a tree generated by RRT algorithm are cut off, so that the quantity of nodes travelled through by a finally generated path is reduced and the path bending frequency is reduced. Therefore, the path is more suitable for robot walking. The RRT algorithm is a path planning algorithm disclosed by LaValle in a paper for the first time in 1998 and is a classic algorithm frequently used in MDOF robot motion planning and plan path planning. However, length of paths generated by the RRT algorithm has comparatively large redundancy and the linearity of the paths is poor. Through the improvement implemented through pruning in the invention, path redundancy is reduced and the linearity is improved substantially.

Description

technical field [0001] The present invention relates to a path planning method in the field of intelligent robot motion planning, in particular to a path planning method based on pruning fast random search tree (RRT, Rapidly exploring Random Tree) algorithm which improves the classic RRT algorithm, mainly in During the tree generation process, the small branches and leaves are cut off, so that the length of the branches and leaves of the tree structure is at least above a given threshold distance, so that the number of turns of the final path is reduced and the straightness is improved. Background technique [0002] At present, the research on robot systems capable of autonomous navigation and obstacle avoidance is extremely hot, and many products have been applied in practice. For example, a service robot in a restaurant has the ability to identify obstacles and plan paths; another example is a home sweeping robot, which also has the ability to plan its own movement path in...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 陈智鑫林梦香
Owner BEIHANG UNIV
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