目标区域偏置扩展的RRT*路径规划算法

RRT*Path Planning Algorithm of Goal Region Biasing Extension

为增强RRT*路径规划算法的目标导向性和收敛速度,提出一种目标区域偏置扩展的移动机器人RRT*路径规划算法。该算法首先根据目标区域偏置扩展方法快速规划出一条初始路径,然后通过椭圆子集采样和节点约束策略来限制采样空间的大小和扩展节点的数量,再利用路径修正方法得出一条平滑路径。在简单和复杂两种地图环境下与RRT*、Informed-RRT*、RRT*-FN算法进行比较分析,研究结果显示,该算法具有较强的目标导向性和快速收敛性。

To improve the goal orientation and convergence speed of the RRT*path planning algorithm,this paper proposes the mobile robots RRT*path planning algorithm of goal region biasing expansion.This algorithm quickly plans an initial path according to the goal region biasing expansion method firstly,then limits the size of the sampling space and the number of expansion nodes by ellipse subset sampling and node constraint strategy,and uses the path correction method to get a smooth path.It compares and analyzes the proposed algorithm with the RRT*,Informed-RRT*,and RRT*-FN algorithm in both the simple and complex map environments.The research results show that this algorithm has stronger goal orientation and fast convergence.