Light Reflection-Guided RRT$^{*}$: Efficient Path Planning in Narrow Passages

IF 5.3 2区 计算机科学 Q2 ROBOTICS
Xiaotong Xun;Runda Zhang;Senchun Chai;Runqi Chai;Yuanqing Xia
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引用次数: 0

Abstract

In complex and constrained environments, robot path planning faces the dual challenges of efficiency and solution quality. This letter presents a Light Reflection Heuristic RRT$^{*}$ algorithm (LRH-RRT$^{*}$), which generates the reference path by simulating light reflections along obstacle boundaries and adaptively adjusts the sampling distribution. A dynamic path pruning strategy is introduced to eliminate redundant nodes, and third-order Bézier curve interpolation is applied to smooth the path while satisfying the dynamic constraints of mobile robots. Experimental results demonstrate that LRH-RRT$^{*}$ improves planning efficiency and path quality in various narrow passage scenarios.
光反射引导RRT$^{*}$:狭窄通道的有效路径规划
在复杂约束环境下,机器人路径规划面临着效率和求解质量的双重挑战。本文提出了一种光反射启发式RRT$^{*}$算法(LRH-RRT$^{*}$),该算法通过模拟沿障碍物边界的光反射来生成参考路径,并自适应调整采样分布。采用动态路径剪枝策略消除冗余节点,并在满足移动机器人动态约束的前提下,采用三阶bsamizier曲线插值对路径进行平滑处理。实验结果表明,LRH-RRT$^{*}$提高了各种狭窄通道场景下的规划效率和路径质量。
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来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
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