Research on RRT * Path Planning Algorithm for Uniformly Distributed Logistic Chaotic Sequence
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摘要: 针对RRT*算法存在收敛速度慢的问题,提出了一种均匀Logistic混沌序列采样的RRT*路径规划算法。该方法使用均匀分布Logistic混沌序列方法代替RRT*算法中随机数方法,保证了采样点的随机性和遍历性,提高了通过障碍物区域的概率,加速了随机树重布线的效率。最后通过仿真和实验证明,均匀分布Logistic混沌序列采样的RRT*算法比传统的RRT*算法的采样点少、路径规划时间短和稳定性好。
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关键词:
- 路径规划 /
- Logistic混沌序列 /
- RRT* /
- 概率采样
Abstract: In view of the slow convergence rate of RRT* algorithm, a new RRT* path planning algorithm of uniform Logistic chaotic sequence sampling is proposed in this paper. The method uses uniformly distributed Logistic chaotic sequence instead of random numbers in the traditional RRT* algorithm, which ensures the randomness and ergodicity of sampling points. The algorithm improves the probability of passing through the obstacle area, and also accelerates the efficiency of random tree rerouting. Finally, it is proved by simulation and experiment that new RRT* algorithm based on uniformly distributed Logistic chaotic sequence sampling has fewer sampling points、shorter path planning time and good stability than traditional RRT* algorithm.-
Key words:
- path planning /
- logistic chaotic sequence /
- RRT* /
- probability sampling
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表 1 成功规划路径的平均长度
m 采样次数 1500 1600 1700 1800 1900 2000 RRT* 1064.788 1039.036 1023.120 984.208 1013.093 996.081 改进的RRT* 1032.264 986.249 984.477 982.246 980.986 979.308 表 2 成功规划路径的平均时间
s 采样次数 1500 1600 1700 1800 1900 2000 RRT* 1.848 2.063 2.126 2.028 2.234 2.478 改进的RRT* 1.769 2.047 2.089 2.113 2.273 2.451 表 3 成功规划路径次数
采样次数 1500 1600 1700 1800 1900 2000 RRT* 10 18 22 19 16 29 改进的RRT* 14 17 21 23 27 30 表 4 成功规划路径最短路径长度
m 采样次数 1500 1600 1700 1800 1900 2000 RRT* 974.746 969.514 966.860 969.731 969.166 966.208 改进的RRT* 968.285 968.757 971.231 966.611 968.456 964.156 表 5 成功规划路径最大路径长度
m 采样次数 1500 1600 1700 1800 1900 2000 RRT* 1252.945 1527.964 1430.475 998.435 1496.203 1457.971 改进的RRT* 1326.664 1024.406 999.034 994.307 993.545 992.241 表 6 目标点1下两种算法性能比较
算法 平均采样
次数平均规划
时间/ms平均路径
长度/m改进的RRT* 296 61.47 7.224 RRT* 435 106.53 7.383 表 7 目标点2下两种算法性能比较
算法 平均采样
次数平均规划
时间/ms平均路径
长度/m改进的RRT* 297 47.53 6.440 RRT* 404 134.03 6.322 -
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