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基于RRT的ROS全局路径规划 被引量:1

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摘要 本文以ROS系统中OMPL路径规划库为背景,针对基于随机采样的路径规划算法缺乏稳定性以及无法快速收敛的问题,提出了一种基于启发式函数的改进RRT算法,通过引入曼哈顿代价函数,将随机树往目标点进行扩展,从而避免了随机树在次优区域进行扩展,大大提高了随机树的效率。通过仿真实验证明,引入代价函数可以大大加快随机生成树的收敛,提高规划效率。
机构地区 常州工学院
出处 《电子技术与软件工程》 2019年第5期95-96,共2页 ELECTRONIC TECHNOLOGY & SOFTWARE ENGINEERING
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