Shuai Wang, Tao Sun, Xiao Han Li, Hao Ran Kong, Chao Feng
{"title":"一种基于RRT*的改进路径规划算法","authors":"Shuai Wang, Tao Sun, Xiao Han Li, Hao Ran Kong, Chao Feng","doi":"10.1109/ICCECE58074.2023.10135440","DOIUrl":null,"url":null,"abstract":"RRT* algorithm has some shortcomings, such as slow convergence speed and long path length. To solve these problems, an improved algorithm based on RRT* is proposed. By optimizing the sampling part of RRT* algorithm, the algorithm guides the random tree to grow towards the target point, which greatly improves the planning speed. Then, a path optimization strategy is proposed to reduce the redundant inflection points in the path and reduce the cost of the path. Finally, the effectiveness of the algorithm is verified by simulation experiments.","PeriodicalId":120030,"journal":{"name":"2023 3rd International Conference on Consumer Electronics and Computer Engineering (ICCECE)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2023-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"An Improved Path Planning Algorithm Based on RRT*\",\"authors\":\"Shuai Wang, Tao Sun, Xiao Han Li, Hao Ran Kong, Chao Feng\",\"doi\":\"10.1109/ICCECE58074.2023.10135440\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"RRT* algorithm has some shortcomings, such as slow convergence speed and long path length. To solve these problems, an improved algorithm based on RRT* is proposed. By optimizing the sampling part of RRT* algorithm, the algorithm guides the random tree to grow towards the target point, which greatly improves the planning speed. Then, a path optimization strategy is proposed to reduce the redundant inflection points in the path and reduce the cost of the path. Finally, the effectiveness of the algorithm is verified by simulation experiments.\",\"PeriodicalId\":120030,\"journal\":{\"name\":\"2023 3rd International Conference on Consumer Electronics and Computer Engineering (ICCECE)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-01-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 3rd International Conference on Consumer Electronics and Computer Engineering (ICCECE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCECE58074.2023.10135440\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 3rd International Conference on Consumer Electronics and Computer Engineering (ICCECE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCECE58074.2023.10135440","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
RRT* algorithm has some shortcomings, such as slow convergence speed and long path length. To solve these problems, an improved algorithm based on RRT* is proposed. By optimizing the sampling part of RRT* algorithm, the algorithm guides the random tree to grow towards the target point, which greatly improves the planning speed. Then, a path optimization strategy is proposed to reduce the redundant inflection points in the path and reduce the cost of the path. Finally, the effectiveness of the algorithm is verified by simulation experiments.
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