CAJ | 학술논문

针对 RRT 算法缺乏稳定性和收敛速度慢的问题，基于 RRT-ConCon 算法和朝向目标搜索的策略，提出了一种改进的双向搜索路径规划算法。该算法通过改变两条搜索路径的临时扩展目标点，使搜索路径不仅易于朝着目标点方向生长，而且提高了算法的稳定性，同时可以保证规划的路径接近最优解。改进的 RRT-ConCon 算法利用随机节点生成函数，使朝着目标点生长的搜索路径避免陷入局部极小值。同时，为了测试各种仿真实验环境，还设计了一种仿真实验环境平台，实验结果验证了本算法的有效性和稳定性。
침대 RRT 산법결핍은정성화수렴속도만적문제，기우 RRT-ConCon 산법화조향목표수색적책략，제출료일충개진적쌍향수색로경규화산법。해산법통과개변량조수색로경적림시확전목표점，사수색로경불부역우조착목표점방향생장，이차제고료산법적은정성，동시가이보증규화적로경접근최우해。개진적 RRT-ConCon 산법이용수궤절점생성함수，사조착목표점생장적수색로경피면함입국부겁소치。동시，위료측시각충방진실험배경，환설계료일충방진실험배경평태，실험결과험증료본산법적유효성화은정성。
Aiming at the lack of stability and slow convergence for RRT algorithm,based on RRT-ConCon algorithm and towards goal search strategy,an improved bidirectional search path planning algorithm is proposed. By changing the temporary extension target for two search paths, the algorithm not only can make the search path grow easily towards the direction of target,but also can improve the stability of the algorithm,at the same time can guarantee the planning path close to the optimal solution.The improved RRT-ConCon algorithm uses random node generating function to avoid the search path growing towards the target point falling into local minimum.Meanwhile,in order to test a variety of simulation experimental environments, a simulation experimental environment platform is designed,and experimental results demonstrate the effectiveness and stability of the proposed algorithm.