改进RRT^(*)算法的无人艇局部路径规划方法

Improved RRT^(*)Algorithm for Local Path Planning of Unmanned Surface Vessel

文中提出一种改进RRT^(*)算法,该算法依据国际海上避碰规则计算本船与他船间DCPA与TCPA并判断会遇场景,限制采样空间.通过偏置采样在采样空间中选取采样点,增强目的性,加快搜索速度.依据线段公理和锚点采样的方式重新选择父节点,去除中间冗余的节点,减少路径转向次数和路径长度,使得最终生成的路径相对平滑.结果表明:改进RRT^(*)算法减少了81%以上的转向点和5%以上的路径长度.

This paper proposed an improved RRT^(*)algorithm.The algorithm calculated DCPA and TCPA between this ship and other ships according to the international rules for preventing collisions at sea,judged the encounter scene and limited the sampling space.By selecting sampling points in the sampling space through offset sampling,the purpose was enhanced and the search speed was accelerated.According to the axiom of line segment and anchor sampling,the parent node was re-selected,the redundant nodes in the middle were removed,and the path turning times and path length were reduced,so that the finally generated path was relatively smooth.The results show that the improved RRT^(*)algorithm reduces turning points by more than 81%and path length by more than 5%.