摘要
RRT算法是一种能够处理障碍物和差分约束的问题的算法,被广泛应用于移动机器人的路径规划。针对于基本RRT算法存在的随机性较大和所求解路径非最优等问题,需要对其进行改进从而优化性能与运行效率。本文主要采用双向RRT算法融合人工势场法的方案进行改进后的路径规划,然后借助Dijkstra算法进一步处理所求解的路径,以寻求路径的最优解。仿真结果表明,本方案可以减少基本RRT算法随机性的影响,提高移动机器人路径规划的效率。
RRT algorithm is an algorithm that can deal with obstacles and differential constraints,which is widely used in path planning of mobile robots.In view of the large randomness of the basic RRT algorithm and the non-optimal path of the solution,it needs to be improved to optimize performance and operating efficiency.This paper mainly adopts the two-way RRT algorithm fusing artificial potential field method to carry out the improved path planning,and then uses the Dijkstra algorithm to further process the solved path for finding the optimal solution of the path.The simulation results show that this scheme can reduce the influence of the randomness of the basic RRT algorithm and improve the efficiency of mobile robot path planning.
作者
黄文青
陈凌珊
李婷婷
尚大伟
HUANG Wenqing;CHEN Lingshan;LI Tingting;SHANG Dawei(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2021年第7期32-35,42,共5页
Intelligent Computer and Applications
基金
上海工程技术大学研究生科研创新项目(0231-E3-0903-19-01213)。
关键词
移动机器人
改进RRT算法
融合人工势场法
路径规划
mobile robot
improved RRT algorithm
fused artificial potential field method
path planning
