基于改进RRTConnect++算法的多起重机路径规划
摘要
着重研究多机系统的建模和动作规划算法,以4台起重机为例,对起重机系统进行建模,规定多机系统的C-空间,并对RRTConnect++算法的采样和拓展区域的选取进行了改进,使得拓展点到目标点的拓展在更加有效的区域中进行,从而提高了规划效率,通过案例验证了算法的有效性。
出处
《石油化工建设》
2016年第2期35-38,共4页
Petroleum and Chemical Construction
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