关键词: 改进人工势场法, 优化改进RRT算法, 改进动态窗口法, 融合算法, 避障

Abstract: Aiming at the disadvantages of traditional Rapidly Random Tree(RRT)algorithm in planning path,such as large randomness,low search efficiency,and the planned path is not conducive to robot movement,the improvement was made from three directions.For the problem of large randomness in the random tree expansion,the traditional expansion direction was added into the improved artificial potential field method to make the random tree grow in favor of the target point.Key points were extracted from the path planned of the improved RRT algorithm,and the path was optimized.The optimized path was segmented according to the key points using the improved evaluation function dynamic window method.Experiments showed that the optimized and improved RRT algorithm was better than the traditional A* algorithm and the traditional RRT algorithm in terms of path length,path planning time and inflection point,etc.The path planned by the fusion algorithm in complex environment could well avoid obstacles,and the path was smoother and shorter.

Key words: improve artificial potential field, optimize and improve rapidly random tree algorithm, improve dynamic window approach, fusion algorithm, obstacle avoidance