基于改进<strong>RRT</strong>算法的避障路径规划

基于改进RRT算法的避障路径规划

冯垚,周志峰,沈亦纯,王立端

Obstacle avoidance path planning based on improved RRT algorithm

Yao FENG,Zhifeng ZHOU,Yichun SHEN,Liduan WANG

表1 引入不同偏置概率时RRT算法的路径规划结果对比

Table 1 Comparison of path planning results of RRT algorithm with different bias probabilities

算法	偏置概率	耗时/s	路径长度/cm
传统RRT	无	124.658	28.932
改进RRT	$1 - C_{1}$	规划失败
	${(1 - C_{1})}^{2}$	25.604	33.839
	${(1 - C_{1})}^{3}$	10.687	26.154
	${(1 - C_{1})}^{4}$	40.401	27.407