Path planning method for improving RRT algorithm

A path planning and algorithm technology, applied to road network navigators, measuring devices, instruments, etc., can solve the problems of long planning path, low real-time performance, and difficulty in planning the optimal path, so as to improve efficiency and reduce Planning time, improving unstable effects

Inactive Publication Date: 2018-08-24
BEIJING UNIV OF TECH
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Problems solved by technology

However, the RRT algorithm has strong sampling randomness, so it takes a long time to pla...

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  • Path planning method for improving RRT algorithm
  • Path planning method for improving RRT algorithm
  • Path planning method for improving RRT algorithm

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Embodiment Construction

[0061] The present invention is further described below in conjunction with specific implementation process, with Figure 5 Take the environment as an example to illustrate:

[0062] Preparations: The scope of the planning environment is 400×400, and the starting point of the robot is X init =(50,0), the target point is X goal =(350,400). The position of the obstacle is as Figure 5 As shown, there are three square obstacles and three circular obstacles in the figure. The positions of the square obstacles are: square obstacle 1 [0,250,250,0; 120,120,170,170], square obstacle 2 [0,100,100,0; 275,275,325,325]. The coordinates of each vertex of the above-mentioned square obstacle are (x i ,y i ), i=1,2,...n, the position of the obstacle is [x 1 ,x 2 ,...,x n ;y 1 ,y 2 ,...,y n ], where x 1 ,x 2 ,...,x n is the abscissa of the obstacle, y 1 ,y 2 ,...,y n is the vertical coordinate of the obstacle. The position of circular obstacles: the center of circular obstacl...

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Abstract

The invention relates to a path planning method for improving RRT algorithm, and belongs to the technical field of robot path planning. The method introduces a target gravity strategy to overcome theshortcomings of the RRT algorithm. In the process of expansion, a random tree is randomly expanded when encountering obstacles; when no obstacles are encountered, the target gravity strategy is introduced to correct the expansion direction of the random tree; and a two-way expansion method is introduced to extend from a starting point and a target point respectively. The improved method improves planning efficiency and smoothes a planned path. Finally, the planned path is smoothed to be smoother.

Description

technical field [0001] The invention relates to a path planning method for an improved RRT algorithm, belonging to the technical field of robot path planning. Background technique [0002] Robot path planning is one of the core contents of intelligent mobile robot research, and path planning is an indispensable part of mobile robot navigation technology. The so-called path planning refers to the robot looking for a path that can safely reach the destination according to the external environment information. It is an important symbol of the intelligence of mobile robots, and the path planning algorithm is the most important part in the current research field. It can not only effectively improve the robot navigation technology, but also increase the flexibility of mobile robots. [0003] Path planning began in the 1970s, and a large number of research results have been reported so far. Some scholars divide the path planning methods of mobile robots into three types from the ...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 贾松敏薛裕颖张祥银李秀智李明爱
Owner BEIJING UNIV OF TECH
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