| 摘 要: 针对双向快速扩展随机树(RRT-Connect)算法中采样随机性高、生成的路径冗余节点多等问题,提出了一种改进RRT-Connect算法。首先,通过目标偏置采样方法和目标引力导向策略,提升路径搜索效率,并根据地图复杂程度动态地调整步长。其次,采用基于节点重组的冗余节点删除,对生成的原始路径进行优化。最后,用3次B样条曲线对优化后的路径进行曲线平滑。仿真结果表明,相较于传统RRT-Connect算法,改进后的RRT-Connect算法的规划时间、路径长度分别缩短了29.17%、10.42%,证明所做改进有效地提升了路径规划的效率和质量。 |
| 关键词: 移动机器人 路径规划 RRT-Connect算法 路径优化 |
|
中图分类号: TP183
文献标识码: A
|
| 基金项目: 福建省科技重大专项专题子课题(GY-Z14012);福建理工大学科研启动基金项目(GY-Z21064, GY-Z21065) |
|
| Research on Indoor Mobile Robot Path Planning Based on Improved RRT-Connect Algorithm |
|
XU Yingting1, CHEN Jiawei1, YUAN Yusheng1, YAO Hongze1, TIAN Ganhong1, CAI Zhiming1,2
|
(1.School of Electronic, Electrical Engineering and Physics, Fujian University of Technology, Fuzhou 350118, China;
2.National Demonstration Center f or Experimental Electronic Inf ormation and Electrical Technology Education, Fujian University of Technology, Fuzhou 350118, China)
2221905037@smail.fjut.edu.cn; 2211905017@smail.fjut.com.cn; 2221908016@smail.fjut.edu.cn; 2221908002@smail.fjut.edu.cn; 2231908045@smail.fjut.edu.cn; caizm@fjut.edu.cn
|
| Abstract: To address the issues of high sampling randomness and excessive redundant nodes in the paths generated by the bidirectional Rapidly-exploring Random Tree (RRT-Connect) algorithm, this paper proposes an improved RRT-Connect algorithm. Firstly, the path search efficiency is enhanced through the target-biased sampling method and a target attraction guidance strategy, while dynamically adjusting the step size based on the complexity of the map. Secondly, unnecessary nodes from the generated original path are optimized using a node reorganization-based redundant node deletion technique. Finally, the optimized path is smoothed using cubic B-spline curves. Simulation results show that, compared to the traditional RRT-Connect algorithm, the improved RRT-Connect algorithm reduces the planning time and path length by 29.17% and 10.42% , respectively, demonstrating that the proposed improvements effectively enhance the efficiency and quality of path planning. |
| Keywords: mobile robots path planning RRT-Connect algorithm path optimization |
