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Improved RRT path planning method based on adaptive resolution octree map

A path planning and resolution technology, applied in two-dimensional position/channel control, vehicle position/route/height control, instruments, etc., can solve problems such as not smooth enough, poor path quality, with edges and corners, and achieve improvement Smoothness, reduced planning time, and improved growth efficiency

Active Publication Date: 2021-08-24
SHANDONG UNIV OF SCI & TECH
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  • Application Information

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Problems solved by technology

However, the randomness of the RRT algorithm leads to many redundant branches, which reduces the efficiency of path planning, and the obtained paths are usually of poor quality, with edges and corners, and are not smooth enough.

Method used

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  • Improved RRT path planning method based on adaptive resolution octree map
  • Improved RRT path planning method based on adaptive resolution octree map
  • Improved RRT path planning method based on adaptive resolution octree map

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Embodiment Construction

[0026] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0027] figure 1 It is the flow chart of the improved RRT path planning method based on adaptive resolution octree proposed by the present invention, and the specific implementation includes the following steps:

[0028] step 1:

[0029] Firstly, an adaptive resolution octree map is built. The octree map is a compressed map that can be updated at any time, which is very suitable for AGV indoor navigation. Each node of the octree map represents a volume element of a cube, and each node has eight child nodes, and the volume elements represented by these eight child nodes are equal to the volume of the parent node. The process of building an octree map is to divide it layer by layer from a root node, and each node divides into eight child nodes until the smallest leaf node. The size of the map represented by the leaf node determines the size of t...

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Abstract

The invention discloses an improved RRT path planning method based on an adaptive resolution octree map, and belongs to the field of mobile robot path planning. According to the method, in a two-dimensional grid map generated based on a self-adaptive high-resolution octree principle, an evaluation function is utilized to limit the growth direction of RRT random growth points, redundant growth routes are eliminated, and the random growth direction avoids a complex environment and mainly grows towards the end point direction. Meanwhile, the planning path is smoothed through reselection and rewiring of father nodes in the growth path. According to the improved RRT path planning method based on the adaptive resolution octree map, complete random growth is improved into growth with limited conditions, redundant growth paths are eliminated, the path node growth efficiency is improved, the path planning time is shortened, and a smooth planning path can be obtained through node reselection and rewiring.

Description

technical field [0001] The invention belongs to the field of path planning for mobile robots, in particular to an improved RRT path planning method based on an adaptive resolution octree map. Background technique [0002] Path planning is one of the main research contents of motion planning. Motion planning consists of path planning and trajectory planning. The sequence of points or curves connecting the starting point and the end point is called a path, and the strategy that forms the path is called path planning. Path planning is a fundamental problem in mobile robot navigation. Rapidly Exploring Random Tree algorithm (Rapidly Exploring Random Tree, RRT) is a common method in indoor AGV path planning. It is an incremental search algorithm. It starts to grow randomly through the root node, and the sampling points in the state space are carried out. Collision detection, directing the search to the blank area, so as to find a planned path from the starting point to the targ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0276G05D1/0219
Inventor 宋诗斌刘洪浩王海霞卢晓李博洋高鹏刘鑫聂君张治国盛春阳李玉霞
Owner SHANDONG UNIV OF SCI & TECH
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