一种改进的RRT路径规划算法  

An Improved RRT Path Planning Algorithm

作　　者：宋金泽[1] 戴斌[1] 单恩忠[1] 贺汉根[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院

出　　处：《电子学报》2010年第B02期225-228,共4页Acta Electronica Sinica

基　　金：国家自然科学基金重点项目(No.90820302),国家自然科学基金(No.60774076)

摘　　要：本文以自主驾驶车辆为实际应用背景.提出了一种改进的RRT（快速随机搜索树）路径规划算法.该路径规划算法将非完整性约束条件与双向多步扩展RRT搜索算法相结合,在提高搜索效率的同时保证了规划路径的可行性.同时将路径点作为B样条基函数的控制点,用三次B样条函数来拟合控制点生成平滑可跟踪的路径.通过在平面障碍物环境下实验,验证了该算法的有效性.Aiming at the appfication of ALV （automatic land vehicle）, an improved RRT （Rapidly Random-exploring Trees） path planning algorithm is proposed. The algorithm combines the noholonomic constraints of vehicle with double extend RRTs, which not only improves the efficiency of searching but also guarantees the feasibility of the path at the same time. The path points are taken as reference points for the B-spline basic function, approach and create a new smooth mute which suits for the vehi- cle to follow. The simulation outcomes and field tests verify the effectiveness of the method proposed.

关 键 词：路径规划 快速随机搜索树(RRT) B样条曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]