Research on 3D Path Planning Algorithm Based on Fast RRT Algorithm

Authors

Zhaoqiang Li, School of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710000, China;Follow
Shiyu Zhang, School of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710000, China;

Abstract

Abstract: RRT (rapidly exploring random tree) algorithm is a sampling-based path planning algorithm, which can search a path in high-dimensional environment. The traditional RRT algorithm has the problems of low node utilization and large amount of calculation. To solve these problems, the fast RRT* (Quick RRT*) algorithm is improved by optimizing the strategy of reselection of parent node and pruning range, improving the sampling method and introducing adaptive step size, which makes the algorithm time-consuming and path length shorter. At the same time, the node connection screening strategy is added to eliminate the excessive turning angle in the path. Experimental results show that the improved algorithm can quickly find the shortest collision free path in three-dimensional environment, and the running time is greatly reduced.

Recommended Citation

Li, Zhaoqiang and Zhang, Shiyu (2022) "Research on 3D Path Planning Algorithm Based on Fast RRT Algorithm," Journal of System Simulation: Vol. 34: Iss. 3, Article 8.
DOI: 10.16182/j.issn1004731x.joss.20-0829
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss3/8

First Page

503

Revised Date

2020-12-07

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0829

Last Page

511

CLC

TP249

Recommended Citation

Zhaoqiang Li, Shiyu Zhang. Research on 3D Path Planning Algorithm Based on Fast RRT Algorithm[J]. Journal of System Simulation, 2022, 34(3): 503-511.

DOI

10.16182/j.issn1004731x.joss.20-0829