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RRT-path-panning-algorithm

于 2012-12-01 发布 文件大小:274KB
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  本文以自主驾驶车辆为实际应用背景.提出了一种改进的RRT(快速随机搜索树)路径规划算法.该路 径规划算法将非完整性约束条件与双向多步扩展RRT搜索算法相结合,在提高搜索效率的同时保证了规划路径的可 行性.同时将路径点作为B样条基函数的控制点,用三次B样条函数来拟合控制点生成平滑可跟踪的路径.通过在平 面障碍物环境下实验,验证了该算法的有效性.(AimingattheapplicationofALV(automaticlandvehicle),animprovedRRT(RapidlyRandom?exploring Trees)pathplanningalgorithm isproposed.Thealgorithm combinesthenoholonomicconstraintsofvehiclewithdoubleextend RRTs,whichnotonlyimprovestheefficiencyofsearchingbutalsoguaranteesthefeasibilityofthepathatthesametime.Thepath pointsaretakenasreferencepointsfortheB?splinebasicfunction,approachandcreateanewsmoothroutewhichsuitsforthevehi? cletofollow.Thesimulationoutcomesandfieldtestsverifytheeffectivenessofthemethodproposed.)

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RRT path panning algorithm.pdf,283871,2012-12-01

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