一种移动机器人路径规划新算法

A new algorithm for mobile robot path planning

摘要:

快速搜索随机树（Rapidly-exploring random Tree Star,RRT*）算法在移动机器人实际应用中规划路径在转向部分存在较多的冗余转折点，导致移动机器人在移动转向过程中出现多次停顿与转向，为剔除规划路径中的冗余路径点，提高机器人移动流畅性，提出一种改进的 RRT*算法。算法将局部逆序试连法引入移动机器人路径规划，在确保RRT*算法概率完备性和渐进最优性的前提下，剔除规划路径中的冗余路径节点，使最终路径更加接近最短路径。通过MATLAB仿真实验证明，规划路径平均长度缩短4%，算法耗时缩短35%，改进后的RRT*算法能缩短规划路径且转向部分路径更加平滑。最后，使用改进后的RRT*算法在室内环境下进行移动机器人路径规划实验。实验结果表明：规划路径上无冗余路径点，且移动机器人沿路径移动流畅。

Abstract:

The Rapidly-exploring random Tree Star algorithm is used in the planning of mobile robots in practical applications,but there are many redundant turning points in the turning part of the planning path, which leads to multiple pauses and turns of mobile robot in the process of mobile turning.In order to eliminate the redundant path points in the planning path and improve the mobile fluency of the robot, an improved RRT * algorithm is proposed. In the algorithm, the local reverse order trial connection method is introduced into the path planning of mobile robot,and on the premise of ensuring the probability completeness and progressive optimality of RRT * algorithm, redundant path nodes in the planning path are eliminated,and the final path is closer to the shortest path.Through MATLAB simulation and experiments,it is proved that the average length of planning path is reduced by 4% and the algorithm time is reduced by 35%,and the improved RRT * algorithm can shorten the planning path and turn to part of the path more smoothly. Finally, the improved RRT* algorithm is used to conduct mobile robot path planning experiment in indoor environment.The experimental results show that there is no redundant path point on the planning path, and mobile robot moves smoothly along the path.