Variable probability bidirectional rapidly-exploring random tree improved path planning algorithm

A path planning and random tree technology, which is applied in the direction of motor vehicles, non-electric variable control, vehicle position/route/height control, etc., to reduce the amount of calculation, increase the search speed, reduce the path length and the number of nodes

Inactive Publication Date: 2018-11-06
UNIV OF SHANGHAI FOR SCI & TECH
View PDF5 Cites 21 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is aimed at solving the existing problems of robot motion planning with the fast search random tree algorithm, and propose

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Variable probability bidirectional rapidly-exploring random tree improved path planning algorithm
  • Variable probability bidirectional rapidly-exploring random tree improved path planning algorithm
  • Variable probability bidirectional rapidly-exploring random tree improved path planning algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0019] In actual use, due to the volume of the vehicle itself, the edge of the state space and the center of the vehicle (X, Y) actually need to keep a distance. Therefore, when importing the state space diagram, it is necessary to set the state space according to the vehicle volume. Preprocessing, the edge of the state space is extended and protected to prevent nodes from being too close to the edge of the state space, resulting in collisions.

[0020] A variable probability target selection strategy based on the node environment is adopted, that is, after a node is generated, the function detect(q) is used to detect whether there is an occlusion (that is, a point not included in the available state space) within a single distance interval around the node. If it exists, choose the end point as the target point to expand once to obtain a tree node; otherwise, use a set target bias probability value Pset (generally set to be less than 10%), when the random generation probability...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a variable probability bidirectional rapidly-exploring random tree improved path planning algorithm. Firstly, when importing a state space map, state space preprocessing needsto be performed according to the setting of the vehicle volume, and the state space edge is extended and protected to prevent the node from excessively approaching the state space edge to cause a collision. Secondly, a variable probability target selection strategy based on the node environment is adopted to accelerate the convergence speed. Finally, the bent part in the generated path is removedwhile the straight part in the generated path is retained, that is, whether connection lines between the first node as the start and the subsequent nodes have an obstacle is judged, the redundant nodes are deleted, the path is optimized, and the number of turns and the total path length during the driving of the trolley are reduced. The variable probability optimization algorithm is achieved based on the original bidirectional RRT algorithm, and the target pointing method is used to improve the search speed and reduce the calculation amount. At the same time, the path length and the number ofnodes are reduced, and the passability is ensured.

Description

technical field [0001] The invention relates to a path planning technology for an intelligent vehicle, in particular to an improved path planning algorithm of variable probability bidirectional fast search random tree. Background technique [0002] Smart car path planning means that the smart car finds a continuous collision-free path from the initial pose point to the target pose point in the pose space. At the same time, this path must meet the environmental constraints and the motion characteristics of the smart car itself. [0003] In response to this situation, people proposed the RRT (Rapid Search Random Tree) algorithm. The core of the algorithm is a random search method, which can realize path search in high-dimensional non-convex spaces. Because it uses random sampling planning, no preprocessing is required, and the search The speed is fast, and the speed advantage is especially obvious in high-dimensional space. In recent years, it has been widely used and research...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0212
Inventor 宋燕胡浍冕何壮壮陈晗
Owner UNIV OF SHANGHAI FOR SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap