Path planning method and device based on improved bidirectional RRT algorithm

Abstract

The invention relates to the technical field of autonomous navigation, in particular to a path planning method and device based on an improved bidirectional RRT algorithm, and the method comprises the following steps: obtaining an environment image, and dividing the environment image into an obstacle region and a non-obstacle region through binarization; obtaining feature points of all obstacles, and setting initial priorities of all the feature points according to a pre-established priority configuration rule; on the basis of the initial priorities of the feature points, performing global path search in combination with an improved bidirectional RRT algorithm to obtain an initial path; and smoothing the initial path by using a Bezier curve to obtain a final path. According to the scheme, firstly, the feature points of all obstacles in the area are obtained, then dynamic priority setting is conducted on each feature point, then the information is combined with the improved bidirectional RRT algorithm to achieve accelerated search, the probability of expansion to a low-efficiency search area is reduced, memory consumption is reduced, meanwhile, smooth processing of the generated path is achieved, and the search efficiency is improved. And the actual execution of the intelligent mobile equipment is facilitated.

Description

technical field [0001] The present application relates to the technical field of autonomous navigation, and in particular, to a path planning method and device based on an improved bidirectional RRT algorithm. Background technique [0002] In recent years, with the rapid development of autonomous navigation technology, the application of intelligent mobile devices such as unmanned vehicles, unmanned aerial vehicles and mobile robots has become more and more common, and the key technology to realize this application - path planning has also been obtained by relevant technicians. Path planning refers to planning a motion path from the starting point to the end point for the smart mobile device in the working environment with obstacles, so that the smart mobile device can pass all obstacles safely and without collision, and make the cost Take as little time as possible and take as short a path as possible. [0003] Traditional path planning algorithms include grid method, gene...

AI Technical Summary

Problems solved by technology

[0003] Traditional path planning algorithms include grid method, genetic algorithm, RRT algorithm, artificial potential field method and bionic algorithm, etc., but they all have various problems. For example, the grid method decomposes the whole world into several units, and performs After marking, use the heuristic algorithm to search for safe paths in the unit. Although the unit can be quickly generated, the search takes a long time. For example, the genetic algorithm initializes the path population, and then performs genetic operations such as selection and crossover. After several generations of evolution, the output Although the current optimal individual can overcome the local minimum problem, there is a problem that the actual feasible path cannot be searched. Although the existing two-way RRT algorithm has a strong search ability, there are many redundancies in the blank area. Searching and planning take a long time, and the utilization rate of sampling points is low

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