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2 二维地图1中4种RRT算法的路径规划数据对比

Table 2 Comparison of path planning data of four RRT algorithms in 2D map 1

算法 耗时/s 节点数/个 路径长度/cm 传统RRT 59.218 61 27.859 Bias-RRT 22.442 34 26.194 RRT-Connect 12.319 19 26.940 改进RRT 2.226 4 22.596