光反射引导RRT$^{*}$：狭窄通道的有效路径规划

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-04 DOI:10.1109/LRA.2025.3606385

Xiaotong Xun;Runda Zhang;Senchun Chai;Runqi Chai;Yuanqing Xia

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引用次数: 0

摘要

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

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.

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来源期刊

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.