摘要
在三维路径规划领域,针对路径中存在的路障规避问题,现有的快速扩展随机树算法,快速扩展随机树*算法在全局路径规划与局部路径寻优上还存在局限。提出了黄金正弦下RRT*势场算法,该算法是在RRT*算法的基础上,结合了黄金正弦与人工势场对三维路径进行全局规划。利用人工势场引导,对全局路径进行预处理,再利用黄金正弦,解决了机器人在势场合力为0处或过于靠近障碍物所受斥力过大时的局部路径寻优问题。设置了两组不同的三维环境,并对RRT算法、RRT*算法,与黄金正弦下RRT*势场算法进行实验。实验结果表明,无论是在全局路径规划还是局部路径规划,所提出的算法均优于其余两种算法,且依靠其快速收敛的特点,在增大迭代次数的情况下保证了一定的时效性。
In the field of three-dimensional path planning,there are limitations for the existing RRT(rapidly expanding random tree)algorithm and RRT*(rapidly expanding random tree*)algorithm in global path planning and local path optimization for the roadblock avoidance problem existing in the path.The RRT*potential field algorithm under the golden sine is proposed,which is based on the RRT*algorithm and the golden sine and the artificial potential field are combined to plan the threedimensional path globally.First,the artificial potential field is used to guide and preprocess the global path,and then the golden sine is used to solve the problem of local path optimization when the robot is in the position when the joint force is 0 or too close to the obstacle when the repulsion is too large.Two groups of different three-dimensional environment are set up,and experiments on RRT algorithm,RRT*algorithm,and RRT*potential field algorithm under golden sine are carried out.The experimental results show that the algorithm proposed in this paper is better than the other two algorithms,whether in global path planning or local path planning.Relying on its fast convergence characteristics,it can ensure a certain timeliness while increasing the number of iterations.
作者
彭熙舜
陆安江
刘嘉豪
赵翊博
唐鑫鑫
龙纪安
PENG Xishun;LU Anjiang;LIU Jiahao;ZHAO Yibo;TANG Xinxin;LONG Jian(School of Big Data and Information Engineering,Guizhou University,Guiyang 550025,China;School of Photoelectric Engineering,Xi’an Technological University,Xi’an 710021,China)
出处
《火力与指挥控制》
CSCD
北大核心
2022年第12期145-151,共7页
Fire Control & Command Control
基金
国家自然科学基金(61865002)
国家重点研发计划重点专项(2021YFE0107700)
贵州大学“双一流”研究重大资助项目(GDSYL2018001)。
关键词
三维路径
RRT
RRT*
黄金正弦
人工势场
three-dimensional path
RRT
RRT*
golden sine
artificial potential field
