报告详情
Autonomous Vehicles Global Path Planning via Improved Bidirectional RRT*
编号：43
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更新：2025-06-15 10:35:20 浏览：15次
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摘要
The improved Bidirectional RRT* algorithm proposed in this paper first adopts bidirectional adaptive bias probability sampling and dynamic adjustment of step size. After generating the initial path, it uses the farthest point optimization method to 'prune' the initial path by removing redundant nodes. Finally, global smoothing using B-spline curves and local optimization using Bezier curves enhance the smoothness of the path. MATLAB simulation results indicate that compared to the RRT* algorithm, the path length is reduced by 12.27%, and the convergence speed increases by 36.39%. Compared to the Bi-RRT* algorithm, the path length is reduced by 24.46%, and the convergence speed increases by 32.09%. The improved algorithm demonstrates significant advantages in path planning efficiency, cost, and smoothness, providing reliable assurance for autonomous vehicles to quickly obtain a collision-free and smooth global optimal path.
关键词
Bidirection RRT* algorithm; unmanned vehicles; global path planning; Adaptive; Furthest point optimization;
报告人
永忠 石
硕士研究生 北京信息科技大学稿件作者
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重要日期
-
会议日期
08月01日
2025
至08月04日
2025
-
06月23日 2025
初稿截稿日期
主办单位
中国机械工程学会设备智能运维分会
承办单位
新疆大学
联系方式
- Mrs. Yanruqiang
- ya******@xjtu.edu.cn
历届会议
-
2025年08月01日 中国 wulumuqi
2025 International Conference on Equipment Intelligent Operation and Maintenance -
2023年09月21日 中国 Hefei
第一届（国际）设备智能运维大会
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