Application Of Improved RRT Algorithm In Mobile Robot Path Planning

In the field of mobile robot research,path planning technology has been one of the key research directions of researchers and scholars.Based On the traditional Rapid-exploring Random Trees(RRT)algorithm,two improved RRT algorithms are proposed for the path planning of mobile robot in multiobstacle environment and irregular obstacle environment.An improved RRT algorithm based on variable weight potential field in multi-obstacle environment and an improved RRT algorithm based on fuzzy logic in irregular obstacle environment,the experimental results show that the two improved algorithms can effectively solve the problems of long time,large number of sampling points and unsmooth path in the original algorithm.The main work of this paper is as follows:Firstly,in order to solve the problems of too random path selection,slow convergence speed and poor obstacle avoidance effect in the path planning of the traditional RRT algorithm in the multiobstacle environment,the traditional RRT algorithm is improved by using the planning strategy of KD-Tree algorithm and variable weight artificial potential field method.An improved RRT algorithm based on variable weight potential field is proposed.The algorithm uses KD-Tree algorithm to divide the space to be planned into several parts,which solves the problems of strong randomness and traversal of the whole environment in RRT algorithm;Then based on the original RRT algorithm,the artificial potential field method with variable weight is introduced to carry out heuristic search,thus solving the problems of slow convergence speed and poor obstacle avoidance effect of the RRT algorithm in path planning.Secondly,it mainly solves the problems of low search efficiency,non-smooth path and nonoptimal path in the path planning of RRT * algorithm in the irregular obstacle environment.By using the strategy of fuzzy logic,an improved RRT * algorithm based on fuzzy logic is proposed.On the basis of RRT * algorithm,fuzzy logic strategy is added to reduce the time of searching path and solve the problem of non-smooth path,then 2-opt algorithm is used to select the optimal path,which solves the problems of low searching efficiency,non-smooth path and non-optimal path in RRT * algorithm.Finally,in the MATLAB simulation platform,the two improved algorithms proposed in this paper are simulated in the environment of multiple obstacles and irregular obstacles respectively.The simulation results show that the two improved algorithms proposed in this paper can effectively solve some problems of the traditional RRT algorithm in the process of mobile robot path planning.