面向水下未知空间探测的改进RRT路径搜索算法  

An Improved RRT Path Search Algorithm for Underwater Unknown Space Detection

作　　者：张季然 陈德山[1] 李廷文 吕洁印 汪洋[1] ZHANG Jiran;CHEN Deshan;LI Tingwen;LYU Jieyin;WANG Yang(National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China;Yangtze River Waterway Transportation Monitoring and Emergency Center,Wuhan 430014,China;CIMC Intelligent Technology Co.Ltd.,Shenzhen 518057,China)

机构地区：[1]武汉理工大学国家水运安全工程技术研究中心,武汉430063 [2]武汉理工大学交通与物流工程学院,武汉430063 [3]长江水上交通监测与应急处置中心,武汉430014 [4]深圳中集智能科技有限公司,深圳518057

出　　处：《武汉理工大学学报（交通科学与工程版）》2023年第2期256-262,共7页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家重点研发计划(2018YFC0810405);深圳市科技创新委员会项目(CJGJZD20200617102602006)。

摘　　要：文中提出了一种混合RRT(rapid-exploration random tree)搜索算法.算法整体上按照全局路径和局部路径的最优试探开展同步计算.在局部路径计算层面,利用RRT^(*)算法基于周边探测数据,结合前沿点信息进行小尺度路径搜索、全局路径计算层面,利用RRT算法进行粗粒度的路径分支决策,并将已选分支的边缘信号反馈给局部路径的计算.通过RRT^(*)的重剪枝功能,能够在局部进行路径优化,而避免将其用于整体路径优化时可能带来的“选择震荡”风险.仿真实验与真实环境结果表明:将RRT*与RRT在局部和全局两种尺度上的区分使用,相较只使用RRT算法路径长度减少了16.4%.A hybrid RRT(rapid-exploration random tree)search algorithm was proposed.On the whole,the algorithm carried out synchronous calculation according to the optimal heuristic of global path and local path.At the level of local path calculation,RRT^(*)algorithm was used to search small-scale paths based on peripheral detection data and frontier information.At the level of global path calculation,RRT algorithm was used to make coarse-grained path branch decision,and the edge signal of the selected branch was fed back to the calculation of local path.Through the re-pruning function of RRT^(*),local path optimization can be carried out,and the risk of“selection shock”that may be brought when it is used for overall path optimization can be avoided.The results of simulation and real environment show that the path length is reduced by 16.4%when RRT*and RRT are used separately in local and global scales,compared with RRT algorithm alone.

关 键 词：水下未知空间 快速扩展随机树 路径搜索 水下机器人 

分 类 号：U695.1[交通运输工程—港口、海岸及近海工程]