王凡,冯楠,胡小鹏.一种基于RRT-ConCon改进的路径规划算法[J].,2014,54(6):637-643 |
一种基于RRT-ConCon改进的路径规划算法 |
An improved path planning algorithm based on RRT-ConCon |
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DOI:10.7511/dllgxb201406007 |
中文关键词: 移动机器人 路径规划 快速扩展随机树(RRT) 双向搜索树(Bi-RRT) RRT-ConCon算法 |
英文关键词: mobile robot path planning rapidly-exploring random trees (RRT) bidirectional rapidly-exploring random trees (Bi-RRT) RRT-ConCon algorithm |
基金项目:国家自然科学基金资助项目(61272523). |
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中文摘要: |
针对RRT算法缺乏稳定性和收敛速度慢的问题,基于RRT-ConCon算法和朝向目标搜索的策略,提出了一种改进的双向搜索路径规划算法.该算法通过改变两条搜索路径的临时扩展目标点,使搜索路径不仅易于朝着目标点方向生长,而且提高了算法的稳定性,同时可以保证规划的路径接近最优解.改进的RRT-ConCon算法利用随机节点生成函数,使朝着目标点生长的搜索路径避免陷入局部极小值.同时,为了测试各种仿真实验环境,还设计了一种仿真实验环境平台,实验结果验证了本算法的有效性和稳定性. |
英文摘要: |
Aiming at the lack of stability and slow convergence for RRT algorithm, based on RRT-ConCon algorithm and towards goal search strategy, an improved bidirectional search path planning algorithm is proposed. By changing the temporary extension target for two search paths, the algorithm not only can make the search path grow easily towards the direction of target, but also can improve the stability of the algorithm, at the same time can guarantee the planning path close to the optimal solution. The improved RRT-ConCon algorithm uses random node generating function to avoid the search path growing towards the target point falling into local minimum. Meanwhile, in order to test a variety of simulation experimental environments, a simulation experimental environment platform is designed, and experimental results demonstrate the effectiveness and stability of the proposed algorithm. |
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