Robot path planning based on improved RRT algorithm

doi:10.11835/j.issn.1000-582X.2022.107

Home > Archive>Volume 46, Issue 9, 2023 >13-22. DOI:10.11835/j.issn.1000-582X.2022.107

Robot path planning based on improved RRT algorithm
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                        10.11835/j.issn.1000-582X.2022.107
                    
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                        TAN BoTAN Bo
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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LUO JunLUO Jun
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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LUO YusongLUO Yusong
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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HU ChunhuiHU Chunhui
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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ZHUO JunkangZHUO Junkang
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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BAI ZexinBAI Zexin
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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TIAN JintaoTIAN Jintao
State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
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Affiliation:State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, P. R. China
Clc Number:TP242
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Abstract:

Robots have been widely used in daily life. Path planning is one of the main technologies of robots. An outstanding path planning algorithm can improve the work efficiency of robots, reduce cost, and lay a good foundation for the research of robot navigation. The RRT (rapidly-exploring random trees) algorithm, which is well known for its strong scalability, has some shortcomings, such as suboptimal path length and poor smoothness. An improved algorithm of reverse optimization and cubic spline interpolation is proposed, and then simulated in different scenarios in MATLAB. Taking the restaurant environment as an example in ROS (robot operating system), the experimental results show that the improved RRT algorithm can decrease the path length and the number of nodes, and improve the smoothness, verifying the effectiveness of the algorithm.

Key words:RRT algorithm;path planning;reverse optimization;cubic spline interpolation curve;robot operating system

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谭波,罗均,罗雨松,胡春晖,卓俊康,白泽鑫,田金涛.改进RRT算法的机器人路径规划[J].重庆大学学报,2023,46(9):13~22

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Received:October 14,2021
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Online: September 25,2023
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