基于改进RRT算法的移动机器人路径规划研究

Research on Path Planning of Mobile Robot Based on Improved RRT Algorithm

路径规划是移动机器人开发的核心技术,而传统RRT算法所规划的路径距离长、拐点多,对RRT算法进行改进,引入A*算法思想,改进待扩展节点的选择。引入人工势力场思想,改进扩展方向的选择。对规划的路径消除冗余点,并采用三次样条函数进行平滑处理。将改进的RRT算法应用于虚拟简单环境地图、虚拟复杂环境地图中,结果表明改进RRT算法所规划的路径平顺性好、路径长度短且所用时间短。最后将改进的RRT算法应用于实际的移动机器人路径规划中,路径规划结果验证了该算法的可行性。

Path planning is the core technology of mobile robot development,but the traditional RRT algorithm plans paths with long distances and multiple inflection points.Therefore,the RRT algorithm is improved by introducing the A*algorithm idea to improve the selection of nodes to be expanded.As the idea of artificial power field is introduced,the selection of expansion direction is improved.It eliminates redundant points in the planned path,uses a cubic spline function for smoothing,and applies the improved RRT algorithm to virtual simple environment maps and virtual complex environment maps.The results show that the path planned by the improved RRT algorithm has good smoothness,short path length,and short time consumption.The improved RRT algorithm is finally applied to the actual mobile robot path planning,and the result verifies the feasibility of the algorithm in the actual mobile robot development.