一种基于RRT*的改进路径规划算法

2023 3rd International Conference on Consumer Electronics and Computer Engineering (ICCECE) Pub Date : 2023-01-06 DOI:10.1109/ICCECE58074.2023.10135440

Shuai Wang, Tao Sun, Xiao Han Li, Hao Ran Kong, Chao Feng

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引用次数: 0

摘要

RRT*算法存在收敛速度慢、路径长等缺点。为了解决这些问题，提出了一种基于RRT*的改进算法。该算法通过优化RRT*算法的采样部分，引导随机树向目标点生长，大大提高了规划速度。然后，提出了一种路径优化策略，以减少路径上的冗余拐点，降低路径成本。最后，通过仿真实验验证了算法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An Improved Path Planning Algorithm Based on RRT*

RRT* algorithm has some shortcomings, such as slow convergence speed and long path length. To solve these problems, an improved algorithm based on RRT* is proposed. By optimizing the sampling part of RRT* algorithm, the algorithm guides the random tree to grow towards the target point, which greatly improves the planning speed. Then, a path optimization strategy is proposed to reduce the redundant inflection points in the path and reduce the cost of the path. Finally, the effectiveness of the algorithm is verified by simulation experiments.

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2023 3rd International Conference on Consumer Electronics and Computer Engineering (ICCECE)

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