基于RRT-BZD算法的移动机器人路径规划  

Path Planning of Mobile Robot Based on RRT-BZD Algorithm

作　　者：张彬 崔津华 李海虹[1] ZHANG Bin;CUI Jin-hua;LI Hai-hong(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024

出　　处：《机械工程与自动化》2024年第3期41-43,46,共4页Mechanical Engineering & Automation

基　　金：山西省大学生创新创业训练计划项目(202310109656);山西省基础研究计划项目(202103021224264)。

摘　　要：针对传统RRT算法在移动机器人路径规划中效率低、路径非最优的问题,提出一种改进的RRT-BZD算法,以提高RRT算法的收敛速度和算法的搜索效率。改进的RRT-BZD算法通过设置自适应目标偏向策略以及修剪冗余节点,加快了路径规划的收敛速度,减少了算法运行的时间,并且使用贝塞尔插值法使最终的路径更加平滑。在MATLAB仿真环境中分别对不同场景下的算法进行对比实验,实验结果表明:改进的RRT-BZD算法路径代价比传统RRT算法减少了7.93%,计算时间减少了20.28%,验证了改进算法的有效性和可行性。In order to solve the problems of low efficiency and non-optimal path of traditional RRT algorithm in mobile robot path planning,an improved RRT-BZD algorithm was proposed,which improved the convergence speed of RRT algorithm and the search efficiency of the algorithm.The improved RRT-BZD algorithm accelerates the convergence speed of path planning,reduces the running time of the algorithm,and uses Bessel interpolation to make the final path smoother by setting the adaptive target bias strategy and pruning redundant nodes.Experiments on the algorithms in different scenarios are carried out in the MATLAB simulation environment,and the experiments show that the path cost of the improved RRT-BZD algorithm in this paper is reduced by 7.93%and the calculation time is reduced by 20.28%compared with the traditional RRT algorithm,which verifies the effectiveness and feasibility of the improved algorithm.

关 键 词：移动机器人 路径规划 快速搜索随机树 目标偏向 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP301.6[自动化与计算机技术—控制科学与工程]