水面无人艇(USV)双向快速扩展随机树(Bi-RRT)算法人工势场法(APF)路径规划转向角约束为使水面无人艇(unmanned surface vehicle,USV)规划出实时性强,避障精准性高,平滑度优,航程短的路径,在双向快速扩展随机树(bidirectional rapidly-exploring random trees,Bi-RRT)算法的基础上,设计一种人工势场法(artificial potent...
5、例如jordan等提出双向版的rrt*算法称为b-rrt*算法,搜索速度加快,但在复杂的环境下计算节点量较大,规划效率低。jeong等人利用三角不等式的原理对rrt*中重新选择父节点和路径重连,极大地减少了了节点的数量,但规划出的路径转角较大,usv的控制难度大。另一类是与其他路径规划算法融合的改进,例如结合apf算法。 6、...
However, the RRT* algorithm still suffers from slow convergence rate and large randomness of search range. To overcome the shortcomings of this algorithm, this paper proposes UAV trajectory planning based on bidirectional APF-RRT* algorithm with goal-biased. Firstly, goal-biased strategy is used to...
Sign in UAV trajectory planning based on bi-directional APF-RRT* algorithm with goal-biased Expert Systems with Applications Volume 213, Part C,1 March 2023, Page 119137 Purchase options CorporateFor R&D professionals working in corporate organizations. ...
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APF-IRRT*: An improved informed rapidly-exploring random trees-star algorithm by introducing artificial potential field method for mobile robot path planning. Appl. Sci. 2022, 12, 10905. [Google Scholar] [CrossRef] Burget, F.; Hornung, A.; Bennewitz, M. Whole-body motion planning for ...
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