• 首页
  • 期刊简介
  • 编委会
  • 投稿指南
  • 收录情况
  • 杂志订阅
  • 联系我们
引用本文:许颖婷,陈家伟,袁煜盛,姚洪泽,田淦宏,蔡志明.基于改进RRT-Connect算法的室内移动机器人路径规划研究[J].软件工程,2024,27(12):52-55.【点击复制】
【打印本页】   【下载PDF全文】   【查看/发表评论】  【下载PDF阅读器】  
←前一篇|后一篇→ 过刊浏览
分享到: 微信 更多
基于改进RRT-Connect算法的室内移动机器人路径规划研究
许颖婷1, 陈家伟1, 袁煜盛1, 姚洪泽1, 田淦宏1, 蔡志明1,2
(1.福建理工大学电子电气与物理学院, 福建 福州 350118;
2.电子信息与电气技术国家级实验教学示范中心, 福建 福州 350118)
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
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


版权所有:软件工程杂志社
地址:辽宁省沈阳市浑南区新秀街2号 邮政编码:110179
电话:0411-84767887 传真:0411-84835089 Email:semagazine@neusoft.edu.cn
备案号:辽ICP备17007376号-1
技术支持:北京勤云科技发展有限公司

用微信扫一扫

用微信扫一扫