基于改进的RRT车辆路径规划

Based on Improved RRT Vehicle Path Planning

文章针对基础RRT算法的不足即搜索的盲目性与复杂条件下较差的适应性,对基础RRT算法进行改进,通过对扩展节点的条件进行约束,使得车辆进行路径规划时更加具有方向性,能够实现对物体的绕行,以快速地寻找出可行的路径。最后通过MATLAB进行仿真,验证了改进算法在简单条件与复杂条件(狭小通道)下路径规划的有效性。

In this paper,aiming at the shortcomings of the basic RRT algorithm under complex conditions,the blindness of the search and poor adaptability,to improve the basic RRT algorithm,based on the extension node constraint conditions,the vehicle for path planning more directional,can achieve the object around,to quickly find out the feasible path.At last,MATLAB is used for simulation to verify the effectiveness of the improved algorithm under simple and complex conditions(narrow channels).