In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional R...In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional RRT algorithm used for unmanned aerial vehicle(UAV)path planning in complex environments,an improved bidirectional RRT algorithm was proposed.The algorithm firstly adopted a goal-oriented strategy to guide the sampling points towards the target point,and then the artificial potential field acted on the random tree nodes to avoid collision with obstacles and reduced the length of the search path,and the random tree node growth also combined the UAV’s own flight constraints,and by combining the triangulation method to remove the redundant node strategy and the third-order B-spline curve for the smoothing of the trajectory,the planned path was better.The planned paths were more optimized.Finally,the simulation experiments in complex and dynamic environments showed that the algorithm effectively improved the speed of trajectory planning and shortened the length of the trajectory,and could generate a safe,smooth and fast trajectory in complex environments,which could be applied to online trajectory planning.展开更多
针对邮轮推舱序列自动规划问题,采用投影法建立推舱路径规划模型,并提出一种基于改进双向快速搜索随机树(Bidirectional Rapidly-Exploring Random Tree,Bi-RRT)算法嵌入的贪心算法进行邮轮推舱序列规划的方法。以大型邮轮H1508船甲板...针对邮轮推舱序列自动规划问题,采用投影法建立推舱路径规划模型,并提出一种基于改进双向快速搜索随机树(Bidirectional Rapidly-Exploring Random Tree,Bi-RRT)算法嵌入的贪心算法进行邮轮推舱序列规划的方法。以大型邮轮H1508船甲板中段区域为例,在Unity3D软件中对预制模块化舱室单元(Pre-fabricated Modular Cabin Unit,PMCU)的推舱序列规划进行仿真试验。试验结果表明,该方法可兼顾避障验证与序列规划,比传统蛇形推舱序列规划具有更高的效率。展开更多
为确保无人机在巡检配电网中规避三维空间障碍物,又保持稳定飞行,需考虑偏航角和爬升角,而静态固定角度的单向快速扩展随机树(rapidly-exploring random tree,RRT)算法难以平滑原始航线,导致航线较长。为此,文章提出基于双向RRT算法的...为确保无人机在巡检配电网中规避三维空间障碍物,又保持稳定飞行,需考虑偏航角和爬升角,而静态固定角度的单向快速扩展随机树(rapidly-exploring random tree,RRT)算法难以平滑原始航线,导致航线较长。为此,文章提出基于双向RRT算法的配电网巡检无人机最优航线生成方法。试验结果表明,在输电线里程为20 km的条件下,该方法生成的最优航线长度仅为37 km,实现了对巡检航线的有效优化。展开更多
针对快速扩展随机树算法(rapidly-exploring random trees,RRT)存在的不足,以移动机器人的研究为背景,对RRT算法进行改进优化。依据RRT算法扩展原理,构建仿真环境地图,通过完成基于概率P的RRT优化算法和基于双向RRT优化算法仿真实验,将...针对快速扩展随机树算法(rapidly-exploring random trees,RRT)存在的不足,以移动机器人的研究为背景,对RRT算法进行改进优化。依据RRT算法扩展原理,构建仿真环境地图,通过完成基于概率P的RRT优化算法和基于双向RRT优化算法仿真实验,将这2种优化算法结合,提出了基于概率P-双向的RRT优化算法,并进行了仿真实验验证。仿真结果表明,经过优化后的RRT算法在复杂障碍环境中有着良好的收敛效果和鲁棒性。展开更多
基金supported by Gansu Provincial Science and Technology Program Project(No.23JRRA868)Lanzhou Municipal Talent Innovation and Entrepreneurship Project(No.2019-RC-103)。
文摘In response to the problems of low sampling efficiency,strong randomness of sampling points,and the tortuous shape of the planned path in the traditional rapidly-exploring random tree(RRT)algorithm and bidirectional RRT algorithm used for unmanned aerial vehicle(UAV)path planning in complex environments,an improved bidirectional RRT algorithm was proposed.The algorithm firstly adopted a goal-oriented strategy to guide the sampling points towards the target point,and then the artificial potential field acted on the random tree nodes to avoid collision with obstacles and reduced the length of the search path,and the random tree node growth also combined the UAV’s own flight constraints,and by combining the triangulation method to remove the redundant node strategy and the third-order B-spline curve for the smoothing of the trajectory,the planned path was better.The planned paths were more optimized.Finally,the simulation experiments in complex and dynamic environments showed that the algorithm effectively improved the speed of trajectory planning and shortened the length of the trajectory,and could generate a safe,smooth and fast trajectory in complex environments,which could be applied to online trajectory planning.
文摘为确保无人机在巡检配电网中规避三维空间障碍物,又保持稳定飞行,需考虑偏航角和爬升角,而静态固定角度的单向快速扩展随机树(rapidly-exploring random tree,RRT)算法难以平滑原始航线,导致航线较长。为此,文章提出基于双向RRT算法的配电网巡检无人机最优航线生成方法。试验结果表明,在输电线里程为20 km的条件下,该方法生成的最优航线长度仅为37 km,实现了对巡检航线的有效优化。
文摘针对快速扩展随机树算法(rapidly-exploring random trees,RRT)存在的不足,以移动机器人的研究为背景,对RRT算法进行改进优化。依据RRT算法扩展原理,构建仿真环境地图,通过完成基于概率P的RRT优化算法和基于双向RRT优化算法仿真实验,将这2种优化算法结合,提出了基于概率P-双向的RRT优化算法,并进行了仿真实验验证。仿真结果表明,经过优化后的RRT算法在复杂障碍环境中有着良好的收敛效果和鲁棒性。
