Improve RRT Algorithm for Path Planning in Complex Environments
文献类型：会议论文
| 作者 | Zhang W(张伟)2,3 ; Yi CL(易春林)1; Gao S(高升)2,3; Zhang ZW(张赵威)2,3; He X(何旭)2,3
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| 出版日期 | 2020 |
| 会议日期 | July 27-29, 2020 |
| 会议地点 | Shenyang, China |
| 关键词 | Optimal path RRT* algorithm RRT algorithm Path planning |
| 页码 | 3777-3782 |
| 英文摘要 | This paper proposes an improved RRT algorithm, which overcomes the problems of non-optimal path and low planning success rate in complex environments. First, the algorithm introduces a memory strategy that avoids the problem of oversampling or falling into local minimum in the non-convex environment during the process of expanding random tree. Then, the heuristic function is used to guide the growth of random tree and neighborhood expansion strategy is used to avoid the "rewiring" process of RRT* algorithm, which improves the real-time planning performance. Finally, simulation experiments are performed in different types of maps to illustrate the effectiveness of the proposed algorithm. |
| 源文献作者 | Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT) of Chinese Association of Automation (CAA) |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 39th Chinese Control Conference, CCC 2020
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, USA |
| 语种 | 英语 |
| ISSN号 | 1934-1768 |
| ISBN号 | 978-9-8815-6390-3 |
| WOS记录号 | WOS:000629243503158 |
| 源URL | [http://ir.sia.cn/handle/173321/27837]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Zhang W(张伟) |
| 作者单位 | 1.Shenyang Ligong University, Shenyang 110159， China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zhang W,Yi CL,Gao S,et al. Improve RRT Algorithm for Path Planning in Complex Environments[C]. 见:. Shenyang, China. July 27-29, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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