改进RRT^(*)算法的智能车辆路径规划

Vehicle Path Planning Based on Improved RRT^(*)Algorithm

RRT^(*)算法是智能车路径规划的常用方法,但传统RRT^(*)算法在汽车路径规划方面存在路径转折多、曲率波动较大等问题。针对这些问题,文章提出了一种改进RRT^(*)算法,通过距离公式选取次级节点,同时添加路径转折点角度约束,从而达到限制最小路径段长度和减小路径曲率变化的目的。通过MATLAB仿真平台对改进的RRT^(*)算法进行仿真验证。实验结果表明,该算法能够提高生成轨迹的平滑度,规划的路径更符合车辆在行驶过程中的轨迹特征。

RRT^(*)algorithm is a common method for intelligent vehicle path planning,but the traditional RRT^(*)algorithm has many problems in vehicle path planning,such as path turning and curvature fluctuation.To solve these problems,this paper proposes an improved RRT^(*)algorithm,which selects secondary nodes through the distance formula and adds the angle constraint of path turning point,so as to limit the minimum length of path segment and reduce the change of path curvature.The improved RRT^(*)algorithm was simulated and verified by MATLAB simulation platform.Experimental results show that the algorithm can improve the smoothness of the generated trajectory,and the planned path is more consistent with the trajectory characteristics of the vehicle in the process of driving.