摘要
鉴于RRT算法在三维陷阱空间的路径规划中存在规划时间长、成功率低、路径不规则等缺陷,提出一种改进RRT算法(IRRT),结合蚁群优化算法的思想,对RRT获得的路径设置信息素更新规则,采用轮盘赌选择获取下一个扩展点,通过迭代以获得理想的路径方案。同时,提出设置三维突防关键点引导航迹搜索应对三维陷阱空间狭小突防间隙,提高算法的搜索性能。针对三维陷阱空间下的航迹规划的仿真实验表明,较其他常用的航迹规划算法,采用三维突防关键点的IRRT算法更具有更好的稳健性和收敛性能。
In view of the shortcomings of the RRT algorithm in the path planning of the three-dimensional trap space,such as long planning time,low success rate,irregular path,etc.,this paper proposes an improved RRT algorithm(IRRT),combined with the idea of ant colony optimization algorithm,to determine the path obtained by RRT Set pheromone update rules,use roulette to select the next extension point,and iterate to obtain the ideal path plan.At the same time,we propose to set 3D penetration key points to guide the navigation trail search to deal with the narrow penetration gap in the 3D trap space and improve the search performance of the algorithm.The simulation experiment for the trajectory planning in the three-dimensional trap space shows that the IRRT algorithm using three-dimensional penetration key points has better robustness and convergence performance than other commonly used path planning algorithms.
作者
杨帆
方玺
高飞
谢良
YANG Fan;FANG Xi;GAO Fei;XIE Liang(School of Natural Sciences,Wuhan University of Technology,Wuhan 430070,China)
出处
《武汉理工大学学报》
CAS
北大核心
2020年第10期98-106,共9页
Journal of Wuhan University of Technology
基金
国家自然科学基金(61502522)
装备预研基金(JZX7Y20190253036101)
装备预研教育部联合基金(6141A02033703)
湖北省自然科学基金(2019CFC897)
