基于改进RRT^(*)算法的深海采矿车局部路径规划算法

Local Path Planning Algorithm for Deep-sea Mining Vehicle Based on Improved RRT*Algorithm

针对海底环境可能会出现未知障碍物,进而影响采矿车行驶安全的问题,提出一种改进RRT*算法。该算法考虑海底地形的复杂性,对采样点进行通行性分析。同时在采样策略上,进行目标导向性的改进,并对生成的路径进行剪枝优化。实验证明提出的算法保留了RRT*算法的概率完备性,同时在安全性能和路径长度上提高了生成路径的质量。

An enhanced RRT*algorithm is proposed in this paper to address the problem of unknown obstacles appearing in the seabed environment,which affects the travel safety of the mining vehicle.The method takes into account the topography of the seafloor and performs a traversability analysis on the sampling nodes.In addition,the goal-orientedness of the sampling strategy is improved,and the resulting path is trimmed and optimized.It is experimentally demonstrated that the proposed algorithm retains the probabilistic completeness of the RRT*algorithm while improving the quality of the generated paths in terms of safety performance and path length.