基于MOBDB-RRT^(*)算法的移动机器人路径规划

Path Planning of Mobile Robot Based on MOBDB-RRT^(*) Algorithm

针对RRT^(*)算法在复杂的障碍物环境中路径规划时,存在盲目搜索、冗余节点、路径不光滑以及易靠近障碍物等问题,提出了一种基于膨胀化障碍物环境的双向动态目标偏置RRT^(*)算法(MOBDB-RRT^(*))。首先,将障碍物进行膨胀化处理,确保为机器人留出安全的运行距离;然后,在RRT^(*)算法的基础上引入双向动态目标偏置策略,缩短了搜索路径的时间,提高了算法的规划效率;最后,采用修剪算法和三次贝塞尔曲线对已规划好的路径进行优化,从而生成一条更短、更光滑的路径。仿真实验证明:改进后的RRT^(*)算法在路径规划效率和路径质量上具有优越性。

Aiming at the problems of RRT^(*) algorithm in path planning in complex obstacle environmentsuch as blind searchredundant nodesunsmooth path and easy approach to obstaclesa Magnified Obstacle-based Bidirectional Dynamic Goal Bias RRT^(*)(MOBDB-RRT^(*))algorithm is proposed.Firstlythe obstacles are magnified to ensure a safe running distance for the robot.Thenbased on RRT^(*) algorithma bidirectional dynamic goal bias strategy is introducedwhich reduces the time of searching the path and improves the planning efficiency of the algorithm.Finallypruning algorithm and cubic Bézier curve are used to optimize the planned pathso as to generate a shorter and smoother path.The simulation results show that the improved RRT^(*) algorithm is superior in path planning efficiency and path quality.