A Path Planning Method Based on Concentric Circle Sampling Guided RRT Algorithm

Abstract

The invention relates to a path planning method based on concentric circle sampling to guide the RRT algorithm, comprising the following steps: 1. Taking the starting point of path planning as the root node of a random tree; 2. Generating random points by concentric circle sampling; 3. Judging random Whether the point is within the range of the map, if so, go to step 4, otherwise return to step 2 to regenerate a random point; 4. Find the node closest to the random point as a neighboring point; 5. Extend the generation from the neighboring point to the random point with a step size New node; 6. Judging whether there is an obstacle between the new node and the adjacent point, if yes, return to step 2 for resampling, otherwise add the new node to the random tree; 7. Determine whether the new node is within the target point area, if yes, add The target point is added to the random tree, and the path point of the planned path is obtained by backtracking from the target point to the root node, otherwise, return to step 2; 8. Fit the path points to obtain the final path. This method is beneficial to improve the pathfinding efficiency and quickly find 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...

AI Technical Summary

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 the sampling point as a random point with a certain probability, which can improve the planning efficiency, but It may also lead to falling into a local minimum, and eventually no path can be found under a certain time or number of iterations

Images