基于改进双向RRT算法的机器人路径规划  

Path planning of robot based on improved BI-RRT algorithm

作　　者：韩丰键 邱书波[2] 李庆华[2] 刘海英[1] HAN Feng-jian;QIU Shu-bo;LI Qing-hua;LIU Hai-ying(School of Electrical Engineering and Automation,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353,China;School of Electronic and Information Engineering(Department of Physics), Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China)

机构地区：[1]齐鲁工业大学(山东省科学院)电气工程与自动化学院,山东济南250353 [2]齐鲁工业大学(山东省科学院)电子信息工程学院(大学物理教学部),山东济南250353

出　　处：《山东科学》2021年第3期109-118,共10页Shandong Science

基　　金：国家自然科学基金(61701270);齐鲁工业大学(山东省科学院)青年博士合作基金(2017BSHZ008)。

摘　　要：针对双向快速搜索随机树(BI-RRT)算法在路径规划中存在目标导向性差、收敛速度慢、路径拐点多的问题,提出了一种改进BI-RRT算法。通过目标导向引导随机树更快朝向目标点生长,提高收敛速度。引入贪婪路径优化策略,有效减少路径拐点,提高了路径规划算法的效率。同时提出了一种圆盘碰撞检测的算法,并在多个场景中用Matlab平台进行了圆盘移动机器人的路径规划仿真实验,实验结果验证了所提出算法的可行性和有效性。Aiming at the problems of BI-RRT algorithm in path planning,such as poor target orientation,slow convergence speed,and numerous inflection points,an improved BI-RRT algorithm is proposed in this paper.The random tree is guided to grow faster toward the target point through target orientation to accelerate the convergence speed.In addition,the introduction of greedy path optimization strategy effectively reduces the path inflection points and improves the efficiency of path planning algorithm.Furthermore,a disk collision detection algorithm is also proposed.Path planning simulation experiments on a disk mobile robot is performed in several scenarios using Matlab.The feasibility and effectiveness of the proposed algorithm are verified via experimental results.

关 键 词：路径规划 双向RRT算法 贪婪算法 收敛速度 

分 类 号：TN96[电子电信—信号与信息处理]