基于改进RRT^(*)算法的无人艇路径规划快速求解算法  

Path Planning Rapid Algorithm Based on Modified RRT^(*)for Unmanned Surface Vessel

作　　者：姜兆祯 王文龙[1,2,3] 孙文祺 Jiang Zhaozhen;Wang Wenlong;Sun Wenqi(Naval Submarine Academy,Qingdao 266199,China;Pilot National Laboratory for Marine Science and Technology,Qingdao 266237,China;Qingdao Institute of collaborative innovation,Qingdao 266071,China)

机构地区：[1]海军潜艇学院,山东青岛266199 [2]青岛海洋科学与技术试点国家实验室,山东青岛266237 [3]青岛协同创新研究院,山东青岛266071

出　　处：《系统仿真学报》2024年第4期888-900,共13页Journal of System Simulation

基　　金：国家重点研发计划(2021YFC3100900);青岛海洋科学与技术试点国家实验室问海计划(2021WHZZB0600);青岛协同创新研究院创新计划(LYY-2022-05)。

摘　　要：针对快速扩展随机树(RRT)算法在无人艇路径规划工作中目的性较弱的问题,提出一种改进的无人艇路径规划快速求解算法。对人工势场法进行改进,额外添加4个方向的受力分析,综合计算无人艇所受合力;重新定义转向角度的计算方法,避免其进入局部最优陷阱,使其可以顺利抵达目标点,得到一条初始路径;利用该初始路径来设定快速扩展随机树算法的随机点采样区域,通过降低随机采样点生成在无价值区域的概率,以提高算法的目的性和时效性,得到二次规划路径;对二次规划路径进行冗余点去除操作,减少路径节点的同时可以进一步降低路径代价,得到最终的规划路径。实验结果表明:改进算法在取得相近代价的路径时,运行时间最多降低了84.14%,采样点数量最多减少了70.09%,算法质量更好,运行效率更高。Aiming at the weak purposiveness of rapidly exploring random tree algorithm in USV path planning,a modified rapid algorithm is proposed.The artificial potential field method is improved and theforce analysis in four directions is added to comprehensively calculate the resultant force on USV.The calculation method of steering angle is redefined to avoid entering the local optimal trap and can reach the target point smoothly to obtain an initial path.The initial path is used to set the random point sampling area of rapidly exploring random tree algorithm.By reducing the probability of random points generated in worthless area during sampling,the purpose and timeliness of the algorithm are improved,and the quadratic programming path is obtained.Theredundant points of thepath planned by rapidly exploring random tree algorithm is removed,in which the path cost can be further reduced while the path nodes are reduced,and the final planned path is obtained.Experimental results show that,compared with the original rapidly exploring random tree algorithm,the modified algorithm can lower the running time and the number of sampling nodes by 84.14%and 70.09%,respectively,when obtaining a path with a similar cost.The proposed algorithm has better quality and higher running efficiency.

关 键 词：无人艇 路径规划 RRT^(*)算法 APF算法 APF-RRT^(*)算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]