Path planning method based on concentric circle sampling guide RRT algorithm

A technology of path planning and concentric circles, applied in navigation, surveying and navigation, road network navigator, etc., can solve the problems of lack of guidance information, affect the speed of the algorithm, find the path, etc., achieve broad application prospects and improve pathfinding Efficiency, strong practical effect

Active Publication Date: 2020-05-12
FUZHOU UNIV
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Problems solved by technology

However, because the RRT algorithm adopts a uniform sampling strategy and lacks guidance information, the calculation amount of the algorithm is large, which affects the speed of the algorithm; in addition, the target point appears in t...

Method used

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  • Path planning method based on concentric circle sampling guide RRT algorithm
  • Path planning method based on concentric circle sampling guide RRT algorithm
  • Path planning method based on concentric circle sampling guide RRT algorithm

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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] In this embodiment, it is assumed that the scope of the planning map is 1000*1000, the starting point of path planning is (100,150), the target point is (500,800), and the obstacle position is as Figure 4 shown.

[0039] The path planning method based on the concentric circle sampling guided RRT algorithm provided by the present invention, such as figure 1 As shown in , based on the starting point, target point, obstacle position and planning map of the above-mentioned planned path, the path planning is carried out according to the following steps:

[0040] Step 1: Define the concentric circle coefficient m as 1.5, define the expansion step eps as 40 unit length, and take the starting point of the path planning as the root node q of the random tree T start , and use it as the parent node for the next expansion of the random ...

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Abstract

The invention relates to a path planning method based on a concentric circle sampling guide RRT algorithm. The method comprises the following steps of: 1, taking the starting point of path planning asthe root node of a random tree; 2, generating a random point by concentric circle sampling; 3, judging whether the random point is in a map range or not, if so, turning to the step 4, otherwise, returning to the step 2 to regenerate a random point; 4, finding out a node closest to the random point as an adjacent point; 5, generating a new node by extending step length from the adjacent point to the random point; 6, judging whether an obstacle exists between the new node and the adjacent point or not, if so, returning to the step 2 to perform resampling, and otherwise, adding the new node intothe random tree; 7, judging whether the new node is in a target point area or not, if so, adding a target point into the random tree, backtracking from the target point to the root node to obtain thepath points of a planned path, and otherwise, returning to the step 2; and 8, fitting the path points to obtain a final path. The method is beneficial to improving path finding efficiency and quicklyfinding the planned path.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a path planning method based on concentric circle sampling guided RRT algorithm. Background technique [0002] In a complex environment, how to quickly and efficiently reach the target position safely from the starting position has attracted the attention of many scholars. Path planning is the key technology of this problem, and its main task is to find a continuous collision-free path from the initial state point to the target state point in space, while satisfying the corresponding constraints. [0003] Commonly used path planning algorithms include intelligent path planning algorithms, graph search algorithms, and heuristic search algorithms. Heuristic search algorithm, such as A* algorithm, based on the grid map, evaluates each searched position to find the best position, and then searches from this position until the target point position is searched. [0004] Rapidly-explorin...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 张卫波肖继亮刘朋
Owner FUZHOU UNIV
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