Searching for just a few words should be enough to get started. If you need to make more complex queries, use the tips below to guide you.
Article type: Research Article
Authors: Zhang, Lixina | Yin, Hongtaoa; * | Li, Anga | Hu, Longbiaob
Affiliations: [a] School of Electronics and Information Engineering, Harbin Institute of Technology, Harbin, Heilongjiang, China | [b] Science and Technology on Electronic Information Control Laboratory, Chengdu, Sichuan, China
Correspondence: [*] Corresponding author.Hongtao Yin, School of Electronics and Information Engineering, Harbin Institute of Technology, Harbin 150001, Heilongjiang, China. E-mail: [email protected].
Abstract: In large-scale scenes, how to quickly obtain paths while ensuring the shortest possible path length is a key issue. Rapidly-exploring Random Tree (RRT) have the characteristic of quickly exploring the state space, but it is often difficult to obtain a short path. To overcome this problem, this paper proposes an improved RRT algorithm based on equidistance retention strategy and A* local search(ERRRT-A*). First, RRT is used for large-step global fast exploration to obtain approximate paths. Then, an equidistance retention strategy is used to discard most of the points and retain a small number of key points. Finally, A* is used to search between each segment to obtain a new path. The ERRRT-A* algorithm is compared with other commonly used algorithms on maps of different size in terms of path length and planning time. Simulation results indicate that compared with other algorithms, this algorithm achieves fast planning in large-scale scenes while obtaining short path length, which can effectively balance the path length and planning time.
Keywords: Path planning, large-scale scenes, unmanned vehicles, RRT
DOI: 10.3233/JIFS-238695
Journal: Journal of Intelligent & Fuzzy Systems, vol. Pre-press, no. Pre-press, pp. 1-12, 2024
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
USA
Tel: +1 703 830 6300
Fax: +1 703 830 2300
[email protected]
For editorial issues, like the status of your submitted paper or proposals, write to [email protected]
IOS Press
Nieuwe Hemweg 6B
1013 BG Amsterdam
The Netherlands
Tel: +31 20 688 3355
Fax: +31 20 687 0091
[email protected]
For editorial issues, permissions, book requests, submissions and proceedings, contact the Amsterdam office [email protected]
Inspirees International (China Office)
Ciyunsi Beili 207(CapitaLand), Bld 1, 7-901
100025, Beijing
China
Free service line: 400 661 8717
Fax: +86 10 8446 7947
[email protected]
For editorial issues, like the status of your submitted paper or proposals, write to [email protected]
如果您在出版方面需要帮助或有任何建, 件至: [email protected]