针对当组态空间内存在大量的窄道时,快速搜索随机树算法(RRT)难以取得连通路径的问题,提出了一种改进的RRT-Connect算法.该算法利用改进的桥梁检测算法来识别和采样窄道,使得路径规划在窄道内能轻易取得连通性；同时将RRT-Connect算法与任意时间算法相结合,显著地减少了RRT-Connect算法的移动代价.每个算法分别运行100次,与RRT-Connect算法相比,改进后的算法成功次数由34提高到93,规划时间由9.3s减少到4.2s.双足机器人的仿真实验结果表明,该算法能在窄道内取得优化路径,同时可以有效地提高路径规划的效率.%When lots of narrow passages are contained in the configuration space,the algorithm of Rapidly-exploring Random Tree(RRT) can hardly get the path.In order to deal with the problem,an improved RRT-Connect algorithm was presented.An improved bridge test algorithm was employed to identify and sample narrow passages,so it could be easy to get the connectivity.Combining RRT-Connect with anytime algorithm,the cost of RRT-Connect could be reduced obviously.Each algorithm was run 100 times.Compared with RRT-Connect,the successes' number of the improved algorithm was increased from 34 to 93,and the path planning time was decreased from 9.3 s to 4.2 s.The biped robot simulation results demonstrate that the algorithm can get the optimal path inside the narrow passages; meanwhile,it improves the efficiency.
展开▼
