基于RRT^(*)算法的无人船路径规划研究  

Research on path planning of unmanned ships based on RRT^(*)algorithm

作　　者：张钰琪 田存伟[1] 房世鹏 Zhang Yuqi;Tian Cunwei;Fang Shipeng(School of Physics Science and Information Technology,Liaocheng University,Liaocheng 252000,China)

机构地区：[1]聊城大学物理科学与信息工程学院,聊城252000

出　　处：《现代计算机》2024年第22期36-41,48,共7页Modern Computer

摘　　要：针对RRT算法在路径规划过程中存在路径冗长、盲目性和搜索速度慢等问题,提出了一种基于改进双向RRT^(*)算法的无人船路径规划算法。该算法通过改进RRT算法搜索和添加中间根节点,结合目标偏执策略、引力场及贪婪搜索策略,采用动态步长调节方法代替原来的固定步长生长,使用B样条平滑处理等方式,可以更好解决路径冗长、搜索速度慢和区域性欠缺等问题。通过仿真验证了改进的双向RRT^(*)算法的有效性和可用性。In order to solve the problems of path redundancy,blindness and slow search speed in the path planning process of RRT algorithm,a path planning algorithm for unmanned ship complex environment based on improved two-way RRT^(*)algorithm was proposed.The algorithm searches for and adds intermediate root nodes by improving the RRT algorithm.Combining target paranoid strategy,gravitational field and greedy search strategy,the dynamic step size adjustment method was used to replace the original fixed step size growth.B-spline smoothing and other methods can better solve the problems of long paths,slow search speed,and lack of regionality.The effectiveness and usability of the improved bidirectional RRT*algorithm are verified by simulation.

关 键 词：RRT^(*)算法 无人船路径规划 目标偏执 动态步长调节 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]