1 results about "Rapidly exploring random tree" patented technology

The application discloses an improved fast search random tree path planning method based on energy consumption constraint, and the algorithm is as follows: modeling according to actual geographic information, drawing a digital elevation model of a required map, determining a sampling mode of sampling points according to whether an initial feasible path can be found from a starting point to an ending point, determining a node expansion step length according to a dynamic step length strategy, generating a new expansion node, introducing a slope proportion coefficient by using a dimension reduction idea, adding an energy consumption constraint condition to a heuristic function, generating a logical path length as an optimal path judgment standard, reconnecting and rewriting a node parent node, and reaching the target point when a distance from the new node to the target node is less than a threshold value. The application effectively reduces randomness and blindness of the sampling points, reduces a search space and a range of a search tree, considers an energy consumption influence of an elevation slope on a robot driving process, makes a planned path have the characteristics of being relatively flat and low in energy consumption, and improves a working efficiency of the robot.