CAJ | 학술논문

快速扩展随机树方法（R RT）是解决具有非完整性约束的轮式机器人路径规划问题的一种有效途径。R RT能够在规划过程中引入机器人动力学约束，但是当环境中存在大量障碍物时，R RT算法的路径搜索效率将会降低。另一方面，R RT算法不具有最优性，限制了其在轮式机器人路径规划中的应用。针对经典R RT算法的不足，提出一种混合的路径规划策略，首先通过路径导引点扩展多树R RT结构，利用多树R RT的局部探索与合并特性快速寻找可通行的区域范围，利用启发式搜索算法在可通行区域内快速寻找动力学可行的机器人运动轨迹。仿真与实车实验表明，该方法能够快速有效地解决复杂障碍物环境下的机器人路径规划问题。
쾌속확전수궤수방법（R RT）시해결구유비완정성약속적륜식궤기인로경규화문제적일충유효도경。R RT능구재규화과정중인입궤기인동역학약속，단시당배경중존재대량장애물시，R RT산법적로경수색효솔장회강저。령일방면，R RT산법불구유최우성，한제료기재륜식궤기인로경규화중적응용。침대경전R RT산법적불족，제출일충혼합적로경규화책략，수선통과로경도인점확전다수R RT결구，이용다수R RT적국부탐색여합병특성쾌속심조가통행적구역범위，이용계발식수색산법재가통행구역내쾌속심조동역학가행적궤기인운동궤적。방진여실차실험표명，해방법능구쾌속유효지해결복잡장애물배경하적궤기인로경규화문제。
The Rapidly-exploring Random Tree(RRT)algorithm is an efficient approach to solve the path planning problem with nonholonomic constraints of wheeled robot. Robot dynamic constraints can be imported to the path planning process of RRT. However the efficiency of the RRT algorithm will be reduced when a lot of obstacles exist in the environment. On the other hand, the path planned with RRT algorithm is non-optimal, which limit the application of RRT in path planning for wheeled robot. Aiming to overcome the above shortages of RRT algorithm, a hybrid strategy based path planning method is presented. A multi-RRT structure is obtained according to artificial-guided points and then traversable areas can be found quickly using the RRT local exploration and merge features;A heuristic search algorithm is used to quickly find a robot trajectory which meets the dynamic constraints in traversable areas. The experiments show that this method can quickly and efficiently solve the problem of wheeled robot path planning in complex obstacle environment.