基于RRT*算法和DWA算法的分层结构路径规划策略

Hierarchical Route Planning Strategy Based on RRT* Algorithm and DWA Algorithm

摘要:

为优化复杂动态环境下路径规划问题，提高路径搜索效率，缩短路径规划时间，提出一种基于改进RRT*算法和DWA算法的分层结构路径规划策略。该路径规划分层结构由全局路径规划层和局部路径规划层组成，全局路径规划层根据已知静态障碍物信息利用改进 RRT*算法进行全局路径规划；当路径中出现未知动态障碍物时，根据规划策略将启用局部路径规划层，基于获取的动态障碍物信息，利用DWA算法进行局部路径规划；最终通过全局与局部路径规划策略相结合得到最终的可行路径。仿真实验结果表明：本文提出的分层结构路径规划策略在复杂动态环境中可以高效地完成路径规划任务。

Abstract:

This paper presents a hierarchical route planning strategy that utilizes an improved RRT* algorithm in conjunction with the DWA algorithm. The primary objective is to address the complexities of route planning within dynamic environments by enhancing efficiency and reducing planning duration. The hierarchical approach encompasses two layers: a global route planning layer and a local route planning layer. The global layer employs an enhanced RRT* algorithm to plan routes considering static obstacle data. Simultaneously, the local layer employs the DWA algorithm, focusing on real-time dynamic obstacle data. By synergizing global and local strategies, a comprehensive hierarchical route planning strategy is formulated, resulting in a viable final route solution. Simulation results substantiate the effectiveness of this strategy in efficiently executing route planning tasks within intricate dynamic environments.