A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of...A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.展开更多
The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operationa...The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.展开更多
针对无人机复杂环境下的全局航迹规划问题,将人工势场法与双向RRTs(Rapidly-exploring random trees)算法结合,提出一种改进双向RRTs算法。首先,目标偏置策略引导采样点以一定概率顺着目标点生成,同时随机树新节点受到障碍物斥力和目标...针对无人机复杂环境下的全局航迹规划问题,将人工势场法与双向RRTs(Rapidly-exploring random trees)算法结合,提出一种改进双向RRTs算法。首先,目标偏置策略引导采样点以一定概率顺着目标点生成,同时随机树新节点受到障碍物斥力和目标点引力的合力影响有效避开障碍物生长,提高航迹搜寻效率,其次对随机树的节点扩展考虑了无人机飞行性能约束条件,最后采用3阶贝塞尔函数进一步航迹优化。仿真结果表明:二维和三维复杂环境中改进双向RRTs算法相比传统RRT、双向RRTs算法航迹搜索耗时减少了71.3%、24.7%和41.0%、18.6%,验证了改进算法全局搜索能力的快速性和有效性,能很好的应用于无人机离线全局航迹规划场合。展开更多
针对舰载机甲板路径规划问题,在Informed-RRT^(*)(informed rapidly-exploring random tree)的椭圆采样基础上,提出使用正态分布方式采样的IN-RRT^(*)(informed normal-RRT^(*))算法。首先,针对舰载机与运动场景建模,定义舰载机运动约...针对舰载机甲板路径规划问题,在Informed-RRT^(*)(informed rapidly-exploring random tree)的椭圆采样基础上,提出使用正态分布方式采样的IN-RRT^(*)(informed normal-RRT^(*))算法。首先,针对舰载机与运动场景建模,定义舰载机运动约束和避障策略;其次,将正态分布采样策略与椭圆采样相结合,获取优质高效采样点;引入人工势场法,自适应调节随机树的搜索步长值;使用向心Catmull-Rom样条插值法对路径进行平滑优化处理;提出针对动态障碍改进的动态窗口法,实现局部动态避障。最后,运用甲板平面环境实验检验算法性能。结果表明,IN-RRT^(*)算法能显著优化搜索时间和搜索路径质量,可应对动态场景规划出合理可行的平滑路径。展开更多
为实现移动机器人在复杂动态障碍物环境中的避障,提出一种改进的快速随机扩展树(rapidly-exploring random tree,RRT^(*))与动态窗口法(dynamic window approach,DWA)相融合的动态路径规划方法。基于已知环境信息,利用改进RRT^(*)算法...为实现移动机器人在复杂动态障碍物环境中的避障,提出一种改进的快速随机扩展树(rapidly-exploring random tree,RRT^(*))与动态窗口法(dynamic window approach,DWA)相融合的动态路径规划方法。基于已知环境信息,利用改进RRT^(*)算法生成全局最优安全路径。通过消除RRT^(*)算法产生的危险节点,来确保全局路径的安全性;使用贪婪算法去除路径中的冗余节点,以缩短全局路径的长度。利用DWA算法跟踪改进RRT^(*)算法规划的最优路径。当全局路径上出现静态障碍物时,通过二次调整DWA算法评价函数的权重来避开障碍物并及时回归原路线;当环境中出现移动障碍物时,通过提前检测危险距离并转向加速的方式安全驶离该区域。仿真结果表明:该算法在复杂动态环境中运行时间短、路径成本小,与障碍物始终保持安全距离,确保在安全避开动态障碍物的同时,跟踪最优路径。展开更多
广域石化场站环境具有障碍多、路况复杂、高度受限等多重干扰,不利于移动机器人的日常探测及应急救援。为了保证移动机器人在石化场站各种复杂地形下的正常工作,针对当前移动机器人的快速扩展随机树(rapidly-exploring random tree,RRT...广域石化场站环境具有障碍多、路况复杂、高度受限等多重干扰,不利于移动机器人的日常探测及应急救援。为了保证移动机器人在石化场站各种复杂地形下的正常工作,针对当前移动机器人的快速扩展随机树(rapidly-exploring random tree,RRT)算法及RRT*算法和Informed RRT*算法的原理,对比分析了用于移动机器人复杂石化场站环境路径规划的不同特征,并通过Pycharm仿真对比了几种算法各自的优缺点,为其进一步应用提供理论支撑。经仿真对比实验表明,Informed RRT*算法在复杂环境中表现出优越性。展开更多
基金This research was funded by National Natural Science Foundation of China(No.62063006)Guangxi Science and Technology Major Program(No.2022AA05002)+2 种基金Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region(No.2022GXZDSY003)Guangxi Key Laboratory of Spatial Information and Geomatics(Guilin University of Technology)(No.21-238-21-16)Innovation Project of Guangxi Graduate Education(No.YCSW2023352).
文摘A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.
文摘The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.
文摘针对无人机复杂环境下的全局航迹规划问题,将人工势场法与双向RRTs(Rapidly-exploring random trees)算法结合,提出一种改进双向RRTs算法。首先,目标偏置策略引导采样点以一定概率顺着目标点生成,同时随机树新节点受到障碍物斥力和目标点引力的合力影响有效避开障碍物生长,提高航迹搜寻效率,其次对随机树的节点扩展考虑了无人机飞行性能约束条件,最后采用3阶贝塞尔函数进一步航迹优化。仿真结果表明:二维和三维复杂环境中改进双向RRTs算法相比传统RRT、双向RRTs算法航迹搜索耗时减少了71.3%、24.7%和41.0%、18.6%,验证了改进算法全局搜索能力的快速性和有效性,能很好的应用于无人机离线全局航迹规划场合。
文摘针对舰载机甲板路径规划问题,在Informed-RRT^(*)(informed rapidly-exploring random tree)的椭圆采样基础上,提出使用正态分布方式采样的IN-RRT^(*)(informed normal-RRT^(*))算法。首先,针对舰载机与运动场景建模,定义舰载机运动约束和避障策略;其次,将正态分布采样策略与椭圆采样相结合,获取优质高效采样点;引入人工势场法,自适应调节随机树的搜索步长值;使用向心Catmull-Rom样条插值法对路径进行平滑优化处理;提出针对动态障碍改进的动态窗口法,实现局部动态避障。最后,运用甲板平面环境实验检验算法性能。结果表明,IN-RRT^(*)算法能显著优化搜索时间和搜索路径质量,可应对动态场景规划出合理可行的平滑路径。
文摘为实现移动机器人在复杂动态障碍物环境中的避障,提出一种改进的快速随机扩展树(rapidly-exploring random tree,RRT^(*))与动态窗口法(dynamic window approach,DWA)相融合的动态路径规划方法。基于已知环境信息,利用改进RRT^(*)算法生成全局最优安全路径。通过消除RRT^(*)算法产生的危险节点,来确保全局路径的安全性;使用贪婪算法去除路径中的冗余节点,以缩短全局路径的长度。利用DWA算法跟踪改进RRT^(*)算法规划的最优路径。当全局路径上出现静态障碍物时,通过二次调整DWA算法评价函数的权重来避开障碍物并及时回归原路线;当环境中出现移动障碍物时,通过提前检测危险距离并转向加速的方式安全驶离该区域。仿真结果表明:该算法在复杂动态环境中运行时间短、路径成本小,与障碍物始终保持安全距离,确保在安全避开动态障碍物的同时,跟踪最优路径。
文摘广域石化场站环境具有障碍多、路况复杂、高度受限等多重干扰,不利于移动机器人的日常探测及应急救援。为了保证移动机器人在石化场站各种复杂地形下的正常工作,针对当前移动机器人的快速扩展随机树(rapidly-exploring random tree,RRT)算法及RRT*算法和Informed RRT*算法的原理,对比分析了用于移动机器人复杂石化场站环境路径规划的不同特征,并通过Pycharm仿真对比了几种算法各自的优缺点,为其进一步应用提供理论支撑。经仿真对比实验表明,Informed RRT*算法在复杂环境中表现出优越性。