Mobile robot path planning method integrating membrane calculation and RRT
A mobile robot and path planning technology, applied in navigation computing tools, instruments, non-electric variable control, etc., can solve the problems of poor planning path rationality, purposeless search, single expansion node, etc., to avoid unreasonable path planning and Poor real-time performance, reasonable path, and increased search range
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[0029] The present invention will be further explained below in conjunction with the accompanying drawings.
[0030] like figure 1 As shown, a mobile robot path planning method that fuses membrane computing and RRT includes the following steps:
[0031] Step 1: Initialize the starting waypoint X init , target waypoint X goal , the robot expands the step size ρ and the environment information;
[0032] Step 2: Initialize the membrane structure in membrane calculation as [[] 1 ,[] 2 ,[] 3 ,[] 4 ] 0 ;
[0033] Step 3: Take the starting point X init As the parent node, randomly generate four sampling points, and start from X init Take ρ as the expansion step to expand to each sampling point to form four new effective waypoints X new ;
[0034] Step 4: Combine the four valid waypoints ( Indicates the first effective waypoint in the i-th basic membrane) is evenly distributed to four basic membranes, and the be regarded as the first waypoint in the corresponding ele...
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