Application of rapidly exploring random tree algorithm in the scene of road network with scheduled tracks

摘要

As the traffic situation of the road network in urban areas is becoming increasingly congested, the classical algorithm of rapidly exploring random tree (RRT) is introduced into the scene of the road network with scheduled tracks in this paper. And a dynamic path planning method based on the RRT algorithm is designed. The algorithm takes the start road segment of the route as the root node in the random tree to perform random extensions until the leaf node of the random tree covers the target road segment. Finally, the algorithm is simulated on the road network with congested areas in Wuhan. The result shows that the proposed method can not only effectively avoid the congestion areas in the road network, but also better meet the real-time demand for dynamic path planning.