基于改进BI-RRT算法的AGV路径规划  

Path planning for AGV based on improved BI-RRT algorithm

作　　者：敖国鑫 李林[1] Ao Guoxin;Li Lin(School of management,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学管理学院,上海200093

出　　处：《计算机时代》2023年第5期57-60,65,共5页Computer Era

摘　　要：针对双向快速扩展随机树(BI-RRT)算法在路径规划中存在收敛速度慢、路径绕远、转折点多等问题,提出一种改进的BI-RRT算法。首先引入可变权重系数实现目标导向的同时又能较快的避开障碍物;然后对生成路径作基于障碍物判断策略的剪枝优化;最后用三次B样条曲线进行平滑处理,并提出“优化域”概念解决路径碰撞障碍物问题。仿真结果表明,本文改进后的算法收敛速度更快、路径更加平滑、长度减少。An improved BI-RRT algorithm is proposed to solve the problems of slow convergence,long path detour,and many turning points in path planning of BI-RRT algorithm.Firstly,variable weight coefficients are introduced to achieve goal orientation and avoid obstacles quickly.Then,the generated path is pruned and optimized based on the obstacle judgment strategy.Finally,the cubic B-spline curve is used for smoothing,and the concept of"optimization domain"is proposed to solve the problem of path collision with obstacles.The simulation results show that the improved algorithm converges faster,the path is smoother,and the length is reduced.

关 键 词：路径规划 BI-RRT 可变权重系数 剪枝 三次B样条 

分 类 号：TP312[自动化与计算机技术—计算机软件与理论]