一种基于 RRT-ConCon 改进的路径规划算法

摘要

针对 RRT 算法缺乏稳定性和收敛速度慢的问题，基于 RRT-ConCon 算法和朝向目标搜索的策略，提出了一种改进的双向搜索路径规划算法。该算法通过改变两条搜索路径的临时扩展目标点，使搜索路径不仅易于朝着目标点方向生长，而且提高了算法的稳定性，同时可以保证规划的路径接近最优解。改进的 RRT-ConCon 算法利用随机节点生成函数，使朝着目标点生长的搜索路径避免陷入局部极小值。同时，为了测试各种仿真实验环境，还设计了一种仿真实验环境平台，实验结果验证了本算法的有效性和稳定性。%Aiming at the lack of stability and slow convergence for RRT algorithm,based on RRT-ConCon algorithm and towards goal search strategy,an improved bidirectional search path planning algorithm is proposed. By changing the temporary extension target for two search paths, the algorithm not only can make the search path grow easily towards the direction of target,but also can improve the stability of the algorithm,at the same time can guarantee the planning path close to the optimal solution.The improved RRT-ConCon algorithm uses random node generating function to avoid the search path growing towards the target point falling into local minimum.Meanwhile,in order to test a variety of simulation experimental environments, a simulation experimental environment platform is designed,and experimental results demonstrate the effectiveness and stability of the proposed algorithm.