Robot path planning method and device based on improved RRT algorithm

• Main Authors: NING YONGKE, YAN SUQING, FU QIANG, FU WENTAO, HUANG JIANHUA, REN FENGHUA, JI YUANFA, SUN XIYAN
• Format: Patent
• Language: Chinese; English
• Published: 03.09.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides a robot path planning method based on an improved RRT algorithm, and the method comprises the steps: loading and initializing a grid map, determining a starting point and a target point, and initializing a random tree; generating random sampling points based on a target-oriented strategy random sampling function; obtaining weight values of a random sampling point direction and a target point direction, and performing weighted operation according to the weight values to generate a new extension point; judging that the new extension points do not collide, and updating the random tree according to the new extension points; judging whether the distance between the new extension point and the target point is smaller than a first distance threshold value or not; if yes, generating a global path; and if not, returning to the step of generating the random sampling point based on the preset target-oriented strategy random sampling function and continuing to execute. According to the method, the