石化场站移动机器人RRT算法路径规划方法  

RRT Algorithm Path Planning Method for MobileRobot in Petrochemical Station

作　　者：庞天阳 高春艳[1] 李满宏[1] 张明路[1] PANG Tian-yang;GAO Chun-yan;LI Man-hong;ZHANG Ming-lu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《计算机仿真》2024年第4期413-417,共5页Computer Simulation

基　　金：国家自然科学基金重点项目(U1913211)。

摘　　要：广域石化场站环境具有障碍多、路况复杂、高度受限等多重干扰,不利于移动机器人的日常探测及应急救援。为了保证移动机器人在石化场站各种复杂地形下的正常工作,针对当前移动机器人的快速扩展随机树(rapidly-exploring random tree,RRT)算法及RRT*算法和Informed RRT*算法的原理,对比分析了用于移动机器人复杂石化场站环境路径规划的不同特征,并通过Pycharm仿真对比了几种算法各自的优缺点,为其进一步应用提供理论支撑。经仿真对比实验表明,Informed RRT*算法在复杂环境中表现出优越性。The environment of the wide-area petrochemical station has multiple disturbances such as multiple obstacles,complex road conditions and high restrictions,which is not conducive to the daily detection and emergency rescue of mobile robots.In order to ensure the normal operation of mobile robots in various complex terrains of petrochemical stations,the principles of the Rapidly-exploring Random Tree(RRT)algorithm,RRT*algorithm and Informed RRT*algorithm were discussed.The different characteristics of path planning for mobile robot complex petrochemical station environment were compared and analyzed.The advantages and disadvantages of several algorithms were compared by Pycharm simulation experiment,which provided theoretical support for their further application.The simulation results show that the Informed RRT*algorithm is superior in complex environments.

关 键 词：移动机器人 石化场站 路径规划 快速扩展随机树算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]