Path planning method combining dynamic step RRT* algorithm and potential field method

Abstract

The invention discloses a path planning method combining a dynamic step length RRT* algorithm and a potential field method, and the method comprises the steps: guiding an extension tree to extend towards a target point through constructing a target point suction potential field and an obstacle repulsion potential field, reducing redundant paths, and improving the path planning efficiency; and meanwhile, calculating the extension step length of the extension tree according to the nearest Euclidean distance between a nearest point and the obstacle such that the algorithm convergence speed and path smoothness are both considered, and the obstacle avoidance flexibility of the robot is improved.

Description

technical field

[0001] The invention belongs to the technical field of robot autonomous navigation, and in particular relates to a path planning method capable of avoiding obstacles. Background technique

[0002] With the continuous development of robot technology, the deepening of research on robots and its growing market applications, robotics is becoming a popular research subject at home and abroad. As an important part of the automatic navigation of mobile robots, path planning has always been the focus and hot spot in the field of robotics. Effective path planning is the prerequisite for robots to complete various operations and tasks. According to different algorithm characteristics, path planning can be divided into planning methods based on traditional algorithms and planning methods based on intelligent algorithms. Traditional algorithms are mostly based on computer graph theory or construct related geometric models. Intelligent algorithm is an emerging bionic o...

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