基于改进RRT*算法的井下巷道漫游路径规划方法  

Method of mine lane roaming path planning based on improved RRT*algorithm

作　　者：王丽丽 WANG Lii(CCTEG Changzhou Research Institute,Changzhou 213000,China;Tiandi(Changzhou)Automation Co.,Ltd.,Changzhou 213000,China)

机构地区：[1]中煤科工集团常州研究院有限公司,江苏常州213000 [2]天地(常州)自动化股份有限公司,江苏常州213000

出　　处：《现代电子技术》2024年第12期62-68,共7页Modern Electronics Technique

基　　金：天地科技股份有限公司科技创新创业资金专项项目(2023-TD-ZD005-001)。

摘　　要：针对目前井下巷道作业人员行动轨迹重现,以及巷道漫游等三维可视化巷道虚拟现实过程中的碰撞检测和路径规划问题,提出一种将改进快速探索随机树(RRT*)算法和贪心算法相结合,解决井下巷道复杂环境和高维空间寻求最优路径的方法。这一改进方法使用优先探索策略和贪心策略,解决了RRT算法难以求解最优的可行路径和RRT*算法运动路径振荡的问题。通过Matlab仿真实验平台进行验证,结果表明:所提出的规划方法可得到满意的避障规划路径;且相较于RRT*算法,该方法减少了大部分的无用路径搜索和路径边径的内存存储,提高了路径规划的效率,有效解决了虚拟现实过程中运动路径的振荡问题,实现了平滑的路径规划。In allusion to the problem of collision detection and path planning in the mine lane virtual reality process of 3D visualization mine lane,such as the action trajectory reproduction of underground coal mine lane operators and coal mine lane roaming,an improved method is proposed to solve the problem of seeking the optimal path in the complex environment and high-dimensional space of underground coal mine lane by combining the improved rapidly-exploring random tree star(RRT*)algorithm with the greedy algorithm.In the improved method,the first exploration strategy and greedy strategy are used to solve the problem that RRT algorithm is difficult to solve the optimal feasible path and the problem of RRT*algorithm motion path oscillation.The Matlab simulation experiment platform verifies that the proposed planning method can obtain satisfactory obstacle avoidance planning path,and in comparison with RRT*algorithm,this method can reduce most useless path search and memory storage of path edge path,improve the efficiency of path planning,effectively solve the problem of motion path oscillation in the process of virtual reality,and realize smooth path planning.

关 键 词：巷道漫游 改进RRT*算法 贪心策略 路径规划 碰撞检测 最优路径 

分 类 号：TN957.524-34[电子电信—信号与信息处理] TD67[电子电信—信息与通信工程]