融合动态窗与改进RRT的全位置机器人路径规划算法研究  

Research on Path Planning Algorithm of All-Position Robot Based on Dynamic Window and Improved RRT

作　　者：张海波[1] 严小珊 毕齐林[1] 唐惠玲[2] ZHANG Haibo;YAN Xiaoshan;BI Qilin;TANG Huiling(School of Civil Engineering and Engineering Management,Guangzhou University of Navigation,Guangzhou Guangdong 510725,China;School of Physics and Optoelectronic Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China)

机构地区：[1]广州航海学院土木与工程管理学院,广东广州510725 [2]广东工业大学物理与光电工程学院,广东广州510006

出　　处：《机床与液压》2022年第23期35-43,共9页Machine Tool & Hydraulics

基　　金：广东省自然科学基金项目(2021A1515010533,2016A030310309);广东省科技计划项目(2017B010118004,2020A050515003);广州市科技计划项目(202201011603);广东省攀登计划项目(pdjh2020b0442,pdjh2021a0378)。

摘　　要：针对传统RRT算法在无人车、无人船等自适应路径规划中的随机性导致树枝生长缺乏目标方向性问题,提出一种改进RRT算法与动态窗口相结合的混合算法,考虑其随机树生长过程中存在大量的冗余点,使得路径曲折、不平滑,基于子目标点选取策略研究一种过滤多余节点的算法;为了满足无人车、无人船行驶的安全性,建立安全阈值距离模型,避免与障碍物发生碰撞。对所提出的方法进行仿真实验,结果表明:改进的RRT算法能够在复杂的动态环境下生成有效的可行路径,与传统RRT算法相比较,它使搜索效率提高了43%,规划路径平滑度明显提升,能够实现动态环境中无人车、无人船在线实时路径规划。When traditional rapidly-exploring random tree(RRT) algorithm is used in adaptive path planning of unmanned vehicle, unmanned ship, the branches growing randomness causes lack of goal orientation.To overcome the problem, a hybrid algorithm combining improved RRT with the dynamic window was proposed.Considering that the large amounts of redundant points in the random tree growth process make the path twist and turn, an algorithm for filtering redundant nodes was studied based on the selection strategy of subtarget punctuation.In order to meet the safety of unmanned vehicle and unmanned ship, a safety threshold distance model was established to avoid collision with obstacles.Finally, the proposed method was simulated.The results show that the improved RRT algorithm can be used to generate effective feasible path in complex dynamic environment;compared with traditional RRT algorithm, the search efficiency increases 43%,the planning path is smooth.It can achieve a on-line real-time path planning in dynamic environment for unmanned vehicles and unmanned ship.

关 键 词：RRT算法 动态窗口 自适应路径规划 子目标点选取策略 安全阈值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]