基于改进传统RRT算法的机器人路径规划研究

Research on Robot Path Planning Based on Improved Traditional RRT Algorithm

针对传统RRT算法由于固定步长在机器人路径经过障碍物附近时平稳性差的问题,在传统RRT算法上加以改进,结合人工势场法中的斥力场和斥力函数,引入动态步长,使得改进后的RRT算法在经过障碍物时能自动调节步长,得到的路径再经贝塞尔曲线法做平滑处理,优化了障碍物附近的路径,大大提高其平滑性。通过Matlab仿真平台分析,验证了改进算法的优越性。

To tackle the poor stability of robot path passing through obstacles with fixed step size based on the traditional RRT algorithm,improvement is madeon the traditional RRT algorithm,and the dynamic step size combined with the repulsion field and repulsion function in the artificial potential field method is introduced,which enables the improved RRT algorithm to adjust the step size automatically when passing through obstacles.The obtained path is smoothed by Bessel curve method,which optimizes the path near obstacles with much improved smoothness.The analysis of Matlab simulation platform verifies the superiority of the improved algorithm.