关键词: 路径规划, 改进Quick-RRT*算法, 节点连接筛选, 自适应步长

Abstract:

RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick RRT*) algorithm is improved by optimizing the strategy of reselection of parent node and pruning range, improving the sampling method and introducing adaptive step size, which makes the algorithm time-consuming and path length shorter. At the same time, the node connection screening strategy is added to eliminate the excessive turning angle in the path. Experimental results show that the improved algorithm can quickly find the shortest collision free path in three-dimensional environment, and the running time is greatly reduced.

Key words: path planning, improved Quick RRT(rapidly exploring random tree)* algorithm, the node connection screening strategy, adaptive step-size