基于改进RRT-Connect算法的室内移动机器人路径规划研究  

Research on Indoor Mobile Robot Path Planning Based on Improved RRT-Connect Algorithm

作　　者：许颖婷 陈家伟 袁煜盛 姚洪泽 田淦宏 蔡志明 XU Yingting;CHEN Jiawei;YUAN Yusheng;YAO Hongze;TIAN Ganhong;CAI Zhiming(School of Electronic,Electrical Engineering and Physics,Fujian University of Technology,Fuzhou 350118,China;National Demonstration Center f or Experimental Electronic Inf ormation and Electrical Technology Education,Fujian University of Technology,Fuzhou 350118,China)

机构地区：[1]福建理工大学电子电气与物理学院,福建福州350118 [2]电子信息与电气技术国家级实验教学示范中心,福建福州350118

出　　处：《软件工程》2024年第12期52-55,62,共5页Software Engineering

基　　金：福建省科技重大专项专题子课题(GY-Z14012);福建理工大学科研启动基金项目(GY-Z21064,GY-Z21065)。

摘　　要：针对双向快速扩展随机树(RRT-Connect)算法中采样随机性高、生成的路径冗余节点多等问题,提出了一种改进RRT-Connect算法。首先,通过目标偏置采样方法和目标引力导向策略,提升路径搜索效率,并根据地图复杂程度动态地调整步长。其次,采用基于节点重组的冗余节点删除,对生成的原始路径进行优化。最后,用3次B样条曲线对优化后的路径进行曲线平滑。仿真结果表明,相较于传统RRT-Connect算法,改进后的RRT-Connect算法的规划时间、路径长度分别缩短了29.17%、10.42%,证明所做改进有效地提升了路径规划的效率和质量。To address the issues of high sampling randomness and excessive redundant nodes in the paths generated by the bidirectional Rapidly-exploring Random Tree(RRT-Connect)algorithm,this paper proposes an improved RRT-Connect algorithm.Firstly,the path search efficiency is enhanced through the target-biased sampling method and a target attraction guidance strategy,while dynamically adjusting the step size based on the complexity of the map.Secondly,unnecessary nodes from the generated original path are optimized using a node reorganization-based redundant node deletion technique.Finally,the optimized path is smoothed using cubic B-spline curves.Simulation results show that,compared to the traditional RRT-Connect algorithm,the improved RRT-Connect algorithm reduces the planning time and path length by 29.17%and 10.42%,respectively,demonstrating that the proposed improvements effectively enhance the efficiency and quality of path planning.

关 键 词：移动机器人 路径规划 RRT-Connect算法 路径优化 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]