CN111707264A - Improved and extended RRT path planning method, system and device - Google Patents
Improved and extended RRT path planning method, system and device Download PDFInfo
- Publication number
- CN111707264A CN111707264A CN202010480397.4A CN202010480397A CN111707264A CN 111707264 A CN111707264 A CN 111707264A CN 202010480397 A CN202010480397 A CN 202010480397A CN 111707264 A CN111707264 A CN 111707264A
- Authority
- CN
- China
- Prior art keywords
- random
- point
- rand
- tree
- effective
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
Abstract
The invention relates to an improved and extended RRT path planning method, a system and a device. The improved and extended RRT path planning method comprises the following steps: step S1, starting point xstartAdding a random tree; step S2, generating random point xrandAnd judging whether the point is effective or not, if so, judging the random point xrandAdd to random tree, otherwise discard the random point xrandAnd repeats step S2 until a valid random point x is obtainedrand(ii) a Step S3, valid random point x obtained in step S2randExpanding random points towards the periphery for the center, adding the expanded effective random points into a random tree, and judging a target point xgoalIf the random tree is in the random tree, executing the step S4 if the random tree is in the random tree, otherwise, returning to the step S2; step S4, from target point xgoalStarting to the starting point xstartAnd tracing the parent node as a final path. Compared with the prior art, the method has the advantages of high efficiency, high searching speed, high success rate under the condition of a narrow channel and the like.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an improved and extended RRT path planning method, system and device.
Background
The planning algorithm is widely applied to various fields such as robot navigation, computer games and the like, and a rapid-expanding Random Tree algorithm (RRT) is one of the most common planning algorithms and has the advantages of high coverage rate, wide search range and the like.
To address this problem, many scholars have made corresponding improvements. The bidirectional RRT (RRT-connect) expands the random trees from the starting point and the end point and takes the opposite side as the end point at the same time, and completes the search when the two random trees are connected. The DD-RRT (Dynamic-Domain RRT) considers that the search is trapped in a predicament after the sampling points are failed to be connected for many times, the random tree is expanded to the vicinity of the narrow channel, and the possibility of entering the narrow channel is increased by dynamically adjusting the range of the next sampling. The DD-RRT judges the condition of random tree expansion only through sampling failure times, the judging method is rough and relative, RRV (Rapid-expanding random vias) is not directly abandoned after the sampling point is connected and fails, sampling is carried out in a circle with the point as the center and a set value as the radius, the sampling point is further distinguished to be positioned in front of an obstacle, in front of a narrow channel or in the channel by carrying out principal component analysis on the sampling point, and specific treatment is carried out aiming at different conditions so as to ensure that the random tree smoothly extends into the narrow channel. However, although RRV has a good effect in a narrow channel situation, the effect in a normal situation is rather inferior to RRT, and the calculation is cumbersome, and erroneous determination may occur.
The existing improved RRT algorithm improves the embarrassment of the original algorithm under the condition of a narrow channel to a certain extent, but is influenced by factors such as parameter selection, environmental limitation and the like, and the effect is limited.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the prior art, and provides an improved and extended RRT path planning method, system and apparatus with high efficiency and short search time.
The purpose of the invention can be realized by the following technical scheme:
an improved extended RRT path planning method comprises the following steps:
step S1, starting point xstartAdding a random tree;
step S2, generating random point xrandAnd judging whether the point is effective or not, if so, judging the random point xrandAdd to random tree, otherwise discard the random point xrandAnd repeats step S2 until a valid random point x is obtainedrand；
Step S3, valid random point x obtained in step S2randExpanding random points towards the periphery for the center, adding the expanded effective random points into a random tree, and judging a target point xgoalIf the random tree is in the random tree, executing the step S4 if the random tree is in the random tree, otherwise, returning to the step S2;
step S4, from target point xgoalStarting to the starting point xstartAnd tracing the parent node as a final path.
Preferably, step S2 judges the random point xrandWhether effective specifically includes:
step S21, judging the random point xrandIf the random point x is in the obstacle, the random point x is directly discardedrandAnd regenerating the random point to repeatedly execute the step S21, otherwise, executing the step S22;
step S22, finding the distance random point x in the random treerandClosest point xnearObtaining a random point xrandTo the nearest point xnearJudging whether the connection line passes through the barrier, if so, the random point xrandInvalid, otherwise the random point xrandIs effective.
Preferably, the random point expanding manner in step S3 is as follows: at an effective random point xrandRandom points are generated in a plurality of directions by taking the random length as a radius and the circle center as a circle center.
Preferably, the step S3 of adding the expanded effective random points into the random tree specifically includes: judging expanded random points
And a random point xrandWhether the inter-connection line passes through the barrier or not, if not, the random point of the expansion is judged
Effective, at random point xrandFor the father node, the effective random point of the extension
Adding a random tree, otherwise, judging the expanded random point
Invalid, discard the spot.
Preferably, the method is used for path planning under narrow passages.
An improved extended RRT path planning system, the system comprising:
a random tree establishing unit: will start point xstartAdding the random tree into a random tree to establish a random tree;
a random point generation unit: the unit generates a random point xrandJudging whether the random tree is effective or not, and adding effective random points into the random tree;
a random point expanding unit: the unit is represented by an effective random point xrandExpanding random points towards the periphery for the center, and adding expanded effective random points into a random tree;
a path planning unit: the unit is moved from target point xgoalStarting to the starting point xstartTracing the father node as a final path;
a circulation processing unit: the cell is at target point xgoalWhen the random point does not appear in the random tree, the random point generating unit and the random point expanding unit are circularly started in sequence, and the random point generating unit and the random point expanding unit are arranged at a target point xgoalWhen the random number appears in the random tree, the random number establishment is finished, and the path planning unit is started.
Preferably, the random point generating unit determines the random point xrandThe specific modes of effectiveness are as follows:
first, a random point x is determinedrandWhether or not to be atWithin the obstacle, if yes, directly abandoning the random point xrandAnd regenerating the random point and repeatedly judging whether the random point is effective or not, otherwise, searching the distance random point x in the random treerandClosest point xnearObtaining a random point xrandTo the nearest point xnearJudging whether the connection line passes through the barrier, if so, the random point xrandInvalid, otherwise the random point xrandIs effective.
Preferably, the specific way of the random point expansion by the random point expansion unit is as follows: at an effective random point xrandRandom points are generated in a plurality of directions by taking the random length as a radius and the circle center as a circle center.
Preferably, the specific way of adding the expanded effective random points into the random tree by the random point expanding unit is as follows: judging expanded random points
And a random point xrandWhether the inter-connection line passes through the barrier or not, if not, the random point of the expansion is judged
Effective, at random point xrandFor the father node, the effective random point of the extension
Adding a random tree, otherwise, judging the expanded random point
Invalid, discard the spot.
An improved extended RRT path planning device comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for realizing the improved extended RRT path planning method when executing the computer program.
Compared with the prior art, the invention has the following advantages:
(1) according to the invention, the RRT algorithm judges that the random point is effective, and after the random point is added into the random tree, the next random point is not collected immediately, but further sampling expansion is carried out by taking the current effective random point as a center, so that more nodes are expanded at the lowest cost possible, and the space search efficiency is improved.
(2) The invention takes the current effective random point as the center and the random length as the radius, expands the random point to a plurality of directions around, adds the effective sub-nodes, so as to increase the possibility of extending the random tree to the narrow channel and the success rate of the next connection, and improve the success rate of the planning algorithm under the condition of the narrow channel.
(3) The invention fully retains the original advantages of the RRT algorithm, makes up the inadaptation of the RRT algorithm to the environments such as narrow channels and the like through simple expansion, improves the success rate of the expansion and accelerates the search speed.
Drawings
FIG. 1 is a flow chart of an improved extended RRT path planning method of the present invention;
FIG. 2 is a block diagram of an improved extended RRT path planning system according to the present invention;
FIG. 3 is a schematic diagram of a conventional RRT algorithm path planning;
FIG. 4 is a schematic diagram of random point expansion in the improved extended RRT path planning method of the present invention;
fig. 5 is a schematic diagram illustrating the random tree extending to a narrow channel in the improved and extended RRT path planning method according to the present invention.
In the figure, 1 is a random tree establishing unit, 2 is a random point generating unit, 3 is a random point expanding unit, 4 is a path planning unit, and 5 is a circular processing unit.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. Note that the following description of the embodiments is merely a substantial example, and the present invention is not intended to be limited to the application or the use thereof, and is not limited to the following embodiments.
Examples
As shown in fig. 1, an improved extended RRT path planning method includes the following steps:
step S1, starting point xstartAdding a random tree;
step S2, generating random point xrandAnd judging whether the point is effective or not, if so, judging the random point xrandAdd to random tree, otherwise discard the random point xrandAnd repeats step S2 until a valid random point x is obtainedrand；
Step S2 judges the random point xrandWhether effective specifically includes:
step S21, judging the random point xrandIf the random point x is in the obstacle, the random point x is directly discardedrandAnd regenerating the random point to repeatedly execute the step S21, otherwise, executing the step S22;
step S22, finding the distance random point x in the random treerandClosest point xnearObtaining a random point xrandTo the nearest point xnearJudging whether the connection line passes through the barrier, if so, the random point xrandInvalid, otherwise the random point xrandThe method is effective;
step S3, valid random point x obtained in step S2randExpanding random points towards the periphery for the center, adding the expanded effective random points into a random tree, and judging a target point xgoalIf the random tree is in the random tree, executing the step S4 if the random tree is in the random tree, otherwise, returning to the step S2;
the random point expanding mode in step S3 is as follows: at an effective random point xrandRandom points are generated in a plurality of directions by taking the random length as a radius and the circle center as a circle center.
In step S3, adding the expanded effective random points into the random tree specifically includes: judging expanded random points
And a random point xrandWhether the inter-connection line passes through the barrier or not, if not, the random point of the expansion is judged
Effective, at random point xrandFor the father node, the effective random point of the extension
Adding a random tree, otherwise, judging the expanded random point
Invalid, discarding the point;
step S4, from target point xgoalStarting to the starting point xstartAnd tracing the parent node as a final path.
According to the improved and expanded RRT path planning method, the RRT algorithm judges that the random point is effective, the random point is added into the random tree, the next random point is not collected immediately, the current effective point is taken as the center, the random length is taken as the radius, the random point expansion is carried out towards a plurality of surrounding directions, and effective sub-nodes are added, so that the possibility of extension of the random tree to a narrow channel and the success rate of the next connection are increased. The improved and extended RRT path planning method is used for path planning under a narrow channel, and by increasing the adjacent points around each node, the survival probability of a random tree to the narrow channel and the success rate of next sampling connection are increased, and the success rate of a planning algorithm under the condition of the narrow channel is improved.
As shown in fig. 2, an improved and extended RRT path planning system includes:
random tree building unit 1: will start point xstartAdding the random tree into a random tree to establish a random tree;
random point generation unit 2: the unit generates a random point xrandJudging whether the random tree is effective or not, and adding effective random points into the random tree;
random point expanding unit 3: the unit is represented by an effective random point xrandExpanding random points towards the periphery for the center, and adding expanded effective random points into a random tree;
the path planning unit 4: the unit is moved from target point xgoalStarting to the starting point xstartTracing the father node as a final path;
the circulation processing unit 5: the cell is at target point xgoalWhen the random point does not appear in the random tree, the random point generating unit 2 and the random point expanding unit 3 are circularly started in sequence, and the target point x isgoalWhen the random number is generated in the random tree, the random number establishment is finished, and the path planning unit 4 is started.
The random point generating unit 2 judges the random point xrandThe specific modes of effectiveness are as follows:
first, a random point x is determinedrandIf the random point x is in the obstacle, the random point x is directly discardedrandAnd regenerating the random point and repeatedly judging whether the random point is effective or not, otherwise, searching the distance random point x in the random treerandClosest point xnearObtaining a random point xrandTo the nearest point xnearJudging whether the connection line passes through the barrier, if so, the random point xrandInvalid, otherwise the random point xrandIs effective.
The specific way of the random point expansion unit 3 for performing random point expansion is as follows: at an effective random point xrandRandom points are generated in a plurality of directions by taking the random length as a radius and the circle center as a circle center.
The specific way of adding the expanded effective random points into the random tree by the random point expanding unit 3 is as follows: judging expanded random points
And a random point xrandWhether the inter-connection line passes through the barrier or not, if not, the random point of the expansion is judged
Effective, at random point xrandFor the father node, the effective random point of the extension
Adding a random tree, otherwise, judging the expanded random point
Invalid, discard the spot.
An improved extended RRT path planning device comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for realizing the improved extended RRT path planning method when executing the computer program.
From the starting position xstartTo the target position xgoalPath generation specification and application scenario(s):
as shown in FIG. 3, the conventional RRT algorithm is successful in connecting sampling point xrandImmediately after that, the next sampling is performed, which is less purposeful and difficult to successfully pass through narrow channels.
Based on the conventional RRT algorithm, the method of the invention successfully connects the sampling point x as shown in FIG. 4randThen, will be at xrandAs the circle center, the random value is the radius, the random point is expanded to a plurality of directions (eight directions of east, south, west, north, south, north, west) around, if the random point is effective, x is usedrandAnd adding the expanded nodes into the random tree as father nodes, and otherwise, discarding the nodes.
As shown in fig. 5, the path generation method of the present invention further expands after expanding the random points, expands more points with as little cost as possible, and searches the space more effectively. Increasing the probability that the random tree extends to a narrow channel (node x)extend) Meanwhile, the connection power of the next sampling is increased, so that some sampling points (node x) which cannot be connected by the traditional RRT (remote resistance test) are connectednext) Are connected.
The method for generating the route has good actual operation effect in simple environment and narrow channel environment, has good route planning capability, fully maintains the original advantages of the RRT algorithm, makes up the inadaptation of the RRT algorithm to the environment such as the narrow channel and the like through simple expansion, improves the success rate of the expansion and accelerates the searching speed.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (10)
1. An improved and extended RRT path planning method is characterized by comprising the following steps:
step S1, starting point xstartAdding a random tree;
step S2, generating random point xrandAnd judging whether the point is effective or not, if so, judging the random point xrandAdd to random tree, otherwise discard the random point xrandAnd repeats step S2 until a valid random point x is obtainedrand；
Step S3, valid random point x obtained in step S2randExpanding random points towards the periphery for the center, adding the expanded effective random points into a random tree, and judging a target point xgoalIf the random tree is in the random tree, executing the step S4 if the random tree is in the random tree, otherwise, returning to the step S2;
step S4, from target point xgoalStarting to the starting point xstartAnd tracing the parent node as a final path.
2. The method of claim 1, wherein the step S2 is to determine the random point xrandWhether effective specifically includes:
step S21, judging the random point xrandIf the random point x is in the obstacle, the random point x is directly discardedrandAnd regenerating the random point to repeatedly execute the step S21, otherwise, executing the step S22;
step S22, finding the distance random point x in the random treerandClosest point xnearObtaining a random point xrandTo the nearest point xnearJudging whether the connection line passes through the barrier, if so, the random point xrandInvalid, otherwise the random point xrandIs effective.
3. The improved extended RRT path planner of claim 1The method is characterized in that the random point expanding mode in the step S3 is as follows: at an effective random point xrandRandom points are generated in a plurality of directions by taking the random length as a radius and the circle center as a circle center.
4. The method of claim 1, wherein the step S3 of adding the expanded effective random points into the random tree specifically includes: judging expanded random points
And a random point xrandWhether the inter-connection line passes through the barrier or not, if not, the random point of the expansion is judged
Effective, at random point xrandFor the father node, the effective random point of the extension
Adding a random tree, otherwise, judging the expanded random point
Invalid, discard the spot.
5. The method of claim 1, wherein the method is used for planning a path under a narrow passage.
6. An improved extended RRT path planning system, comprising:
random tree building unit (1): will start point xstartAdding the random tree into a random tree to establish a random tree;
random point generation unit (2): the unit generates a random point xrandJudging whether the random tree is effective or not, and adding effective random points into the random tree;
a random point expanding unit (3): the unit is effectively randomPoint xrandExpanding random points towards the periphery for the center, and adding expanded effective random points into a random tree;
path planning unit (4): the unit is moved from target point xgoalStarting to the starting point xstartTracing the father node as a final path;
circulation processing unit (5): the cell is at target point xgoalWhen the random point does not appear in the random tree, the random point generating unit (2) and the random point expanding unit (3) are circularly started in sequence, and the target point x isgoalWhen the random number appears in the random tree, the random number establishment is finished, and a path planning unit (4) is started.
7. The improved extended RRT path planning system of claim 1, wherein said random point generating unit (2) determines a random point xrandThe specific modes of effectiveness are as follows:
first, a random point x is determinedrandIf the random point x is in the obstacle, the random point x is directly discardedrandAnd regenerating the random point and repeatedly judging whether the random point is effective or not, otherwise, searching the distance random point x in the random treerandClosest point xnearObtaining a random point xrandTo the nearest point xnearJudging whether the connection line passes through the barrier, if so, the random point xrandInvalid, otherwise the random point xrandIs effective.
8. The improved extended RRT path planning system of claim 1, wherein the specific way of the random point extension unit (3) to perform random point extension is: at an effective random point xrandRandom points are generated in a plurality of directions by taking the random length as a radius and the circle center as a circle center.
9. The improved extended RRT path planning system of claim 1, wherein the specific way for the random point extension unit (3) to add the extended effective random points to the random tree is: judging expanded random points
And a random point xrandWhether the inter-connection line passes through the barrier or not, if not, the random point of the expansion is judged
Effective, at random point xrandFor the father node, the effective random point of the extension
Adding a random tree, otherwise, judging the expanded random point
Invalid, discard the spot.
10. An improved extended RRT path planning apparatus, comprising a memory for storing a computer program and a processor for implementing the improved extended RRT path planning method according to any one of claims 1 to 4 when the computer program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480397.4A CN111707264A (en) | 2020-05-30 | 2020-05-30 | Improved and extended RRT path planning method, system and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010480397.4A CN111707264A (en) | 2020-05-30 | 2020-05-30 | Improved and extended RRT path planning method, system and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111707264A true CN111707264A (en) | 2020-09-25 |
Family
ID=72539078
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010480397.4A Pending CN111707264A (en) | 2020-05-30 | 2020-05-30 | Improved and extended RRT path planning method, system and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111707264A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197783A (en) * | 2020-09-30 | 2021-01-08 | 哈尔滨工程大学 | Two-stage multi-sampling RRT path planning method considering locomotive direction |
| CN112393739A (en) * | 2020-10-29 | 2021-02-23 | 国网安徽省电力有限公司检修分公司 | Improved rapid search random tree path planning method in large-area environment |
| CN113298473A (en) * | 2021-06-11 | 2021-08-24 | 四川铁公铁信息技术有限公司 | Garden cargo transportation route planning system and method |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110048330A (en) * | 2009-11-02 | 2011-05-11 | 삼성전자주식회사 | Path planning apparatus of robot and method thereof |
| CN102375416A (en) * | 2010-08-13 | 2012-03-14 | 同济大学 | Human type robot kicking action information processing method based on rapid search tree |
| CN104155974A (en) * | 2013-07-29 | 2014-11-19 | 深圳信息职业技术学院 | Path planning method and apparatus for robot fast collision avoidance |
| CN105824986A (en) * | 2016-03-08 | 2016-08-03 | 西安理工大学 | Method for simulating and analyzing two-dimensional plane random point diffusion motion |
| CN107065865A (en) * | 2017-03-21 | 2017-08-18 | 北京航空航天大学 | A kind of paths planning method based on the quick random search tree algorithm of beta pruning |
| CN108195383A (en) * | 2018-03-13 | 2018-06-22 | 济南大学 | A kind of unmanned scraper paths planning method in underground based on improvement RRT algorithms |
| CN108196536A (en) * | 2017-12-21 | 2018-06-22 | 同济大学 | A kind of improved unmanned vehicle rapidly-exploring random tree paths planning method |
| CN108458717A (en) * | 2018-05-07 | 2018-08-28 | 西安电子科技大学 | A kind of unmanned plane paths planning method of the Quick Extended random tree IRRT of iteration |
| CN109445444A (en) * | 2018-12-25 | 2019-03-08 | 同济大学 | A kind of barrier concentrates the robot path generation method under environment |
| CN109520507A (en) * | 2018-12-05 | 2019-03-26 | 智灵飞（北京）科技有限公司 | A kind of unmanned plane real-time route planing method based on improvement RRT |
| CN110032182A (en) * | 2019-03-11 | 2019-07-19 | 中山大学 | A kind of fusion Visual Graph method and stablize sparse random quickly tree robot planning algorithm |
| CN110515094A (en) * | 2019-07-11 | 2019-11-29 | 同济大学 | Based on the robot point cloud map path method and system for planning for improving RRT* |
| CN111141304A (en) * | 2019-12-30 | 2020-05-12 | 福州大学 | Path planning method based on concentric circle sampling and RRT guiding algorithm |
-
2020
- 2020-05-30 CN CN202010480397.4A patent/CN111707264A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110048330A (en) * | 2009-11-02 | 2011-05-11 | 삼성전자주식회사 | Path planning apparatus of robot and method thereof |
| CN102375416A (en) * | 2010-08-13 | 2012-03-14 | 同济大学 | Human type robot kicking action information processing method based on rapid search tree |
| CN104155974A (en) * | 2013-07-29 | 2014-11-19 | 深圳信息职业技术学院 | Path planning method and apparatus for robot fast collision avoidance |
| CN105824986A (en) * | 2016-03-08 | 2016-08-03 | 西安理工大学 | Method for simulating and analyzing two-dimensional plane random point diffusion motion |
| CN107065865A (en) * | 2017-03-21 | 2017-08-18 | 北京航空航天大学 | A kind of paths planning method based on the quick random search tree algorithm of beta pruning |
| CN108196536A (en) * | 2017-12-21 | 2018-06-22 | 同济大学 | A kind of improved unmanned vehicle rapidly-exploring random tree paths planning method |
| CN108195383A (en) * | 2018-03-13 | 2018-06-22 | 济南大学 | A kind of unmanned scraper paths planning method in underground based on improvement RRT algorithms |
| CN108458717A (en) * | 2018-05-07 | 2018-08-28 | 西安电子科技大学 | A kind of unmanned plane paths planning method of the Quick Extended random tree IRRT of iteration |
| CN109520507A (en) * | 2018-12-05 | 2019-03-26 | 智灵飞（北京）科技有限公司 | A kind of unmanned plane real-time route planing method based on improvement RRT |
| CN109445444A (en) * | 2018-12-25 | 2019-03-08 | 同济大学 | A kind of barrier concentrates the robot path generation method under environment |
| CN110032182A (en) * | 2019-03-11 | 2019-07-19 | 中山大学 | A kind of fusion Visual Graph method and stablize sparse random quickly tree robot planning algorithm |
| CN110515094A (en) * | 2019-07-11 | 2019-11-29 | 同济大学 | Based on the robot point cloud map path method and system for planning for improving RRT* |
| CN111141304A (en) * | 2019-12-30 | 2020-05-12 | 福州大学 | Path planning method based on concentric circle sampling and RRT guiding algorithm |
Non-Patent Citations (2)
| Title |
|---|
| 余卓平等: "城市工况下基于改进RRT的无人车运动规划算法", 《汽车技术》 * |
| 刘成菊等: "基于改进RRT算法的RoboCup机器人动态路径规划", 《机器人》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112197783A (en) * | 2020-09-30 | 2021-01-08 | 哈尔滨工程大学 | Two-stage multi-sampling RRT path planning method considering locomotive direction |
| CN112197783B (en) * | 2020-09-30 | 2022-08-02 | 哈尔滨工程大学 | Two-stage multi-sampling RRT path planning method considering locomotive direction |
| CN112393739A (en) * | 2020-10-29 | 2021-02-23 | 国网安徽省电力有限公司检修分公司 | Improved rapid search random tree path planning method in large-area environment |
| CN113298473A (en) * | 2021-06-11 | 2021-08-24 | 四川铁公铁信息技术有限公司 | Garden cargo transportation route planning system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111707264A (en) | Improved and extended RRT path planning method, system and device | |
| CN112393728B (en) | Mobile robot path planning method based on A-algorithm and RRT-algorithm | |
| Frey et al. | On delivery guarantees of face and combined greedy-face routing in ad hoc and sensor networks | |
| CN112286202B (en) | Mobile robot path planning method for non-uniform sampling FMT | |
| CN102880628B (en) | Hash data storage method and device | |
| CN109737967A (en) | Unmanned plane paths planning method, device, storage medium and computer equipment | |
| CN104156534B (en) | The objectification power network topology analysis method generated for black-start scheme | |
| CN113296496B (en) | Gravity self-adaptive step length bidirectional RRT path planning method based on multiple sampling points | |
| CN113934206B (en) | Mobile robot path planning method, mobile robot path planning device, computer equipment and storage medium | |
| CN113485367A (en) | Path planning method of multifunctional stage mobile robot | |
| Efentakis et al. | SALT. A unified framework for all shortest-path query variants on road networks | |
| CN116587272A (en) | Redundant mechanical arm obstacle avoidance path planning method, device and storage device | |
| CN116295393A (en) | Robot path planning method based on RRT-DR algorithm | |
| CN116698066A (en) | Robot path planning method and system based on neighborhood expansion and boundary point improvement A-star algorithm | |
| CN110138742B (en) | Firewall policy optimization method, system and computer readable storage medium | |
| CN109407646A (en) | Acquisition methods, device, storage medium and the management server of vehicle trouble data | |
| CN116878527A (en) | Hybrid path planning method and device based on improved adaptive window algorithm | |
| CN116627132A (en) | Mobile robot path planning method based on RRT improvement | |
| CN112393739B (en) | Improved rapid search random tree path planning method in large-area environment | |
| CN114115239B (en) | Robot path planning method, system, equipment and medium | |
| CN113537605B (en) | Method, system and device for determining drainage line | |
| CN111722924B (en) | Parallel path searching method, system and device under narrow channel environment | |
| CN114545926A (en) | APF-RRT method and device for fusing artificial potential field and random tree | |
| Ku et al. | Location-based spatial queries with data sharing in mobile environments | |
| CN103945412B (en) | A kind of WSN void node detection methods based on connectedness |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200925 |
|
| RJ01 | Rejection of invention patent application after publication |