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6 基于4种RRT算法的机械臂避障路径规划数据对比

Table 6 Comparison of obstacle avoidance path planning data of robotic arm based on four RRT algorithms

算法 耗时/s 节点数/个 路径长度/cm 传统RRT 53.387 42 133.268 Bias-RRT 26.943 38 117.674 RRT-Connect 21.651 26 95.892 改进RRT 2.624 5 78.018