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3 二维地图2中4种RRT算法的路径规划数据对比

Table 3 Comparison of path planning data of four RRT algorithms in 2D map 2

算法 耗时/s 节点数/个 路径长度/cm 传统RRT 61.033 57 29.699 Bias-RRT 35.717 38 27.810 RRT-Connect 10.875 18 25.170 改进RRT 4.101 5 21.787