Electronics, Journal Year: 2024, Volume and Issue: 13(24), P. 4963 - 4963
Published: Dec. 17, 2024
To address the shortcomings of original rapidly-exploring random tree (RRT) algorithm, such as long and non-smooth paths, slow convergence to goal region, limited adaptability in dynamic environments, this paper proposes a hybrid path planning method combining artificial potential field (APF) approach with RRT algorithm. This integrated leverages strengths both methods achieve efficient, collision-free two-dimensional three-dimensional environments. The algorithm overcomes local minima problem inherent APF while maintaining RRT’s efficiency high-dimensional spaces complex A adjustment strategy is introduced adapt specific application scenarios varying environmental complexity. Additionally, Bezier curve fitting applied smooth resulting paths. Simulations conducted various environments demonstrate effectiveness proposed method, highlighting its robustness generating Compared reduces length by 13.4% 24.9% decreases search time 9.8% 56.5%, improving quality efficiency.
Language: Английский