【摘要】 针对传统管线路径规划算法中存在的效率低、可靠性差、不易改变等问题,提出了一种基于改进RRT算法的管线路径规划及建模仿真方法。使用双向快速扩展随机树算法,以一定概率选择目标点、增加路径缓存等方式减小随机树生长的发散性;采用贪心算法去除冗余路径点;采用Catmull-Rom曲线进行关键点的曲线拟合;增加管线弯曲半径约束。运用改进的RRT算法进行了管线路径规划设计,并在Unity场景实现对管线的路径规划和模拟仿真。更多还原

【Abstract】 A pipeline path planning and modeling method was proposed based on improved Rapidly-exploring Random Tree(RRT)algorithm to deal with the problems of low efficiency,poor reliability and difficulty in change in pipeline path planning.First of all,the BidirectionalRRT algorithm was introduced to reduce the divergence of random tree growth by increasing the probability of selecting a target point and importing the path cache;Then greedy algorithm was used to remove redundant path points,and Catmull-Rom curve was used for key point curve fitting;Meanwhile flexible pipe bend radius constraints were applied.The improved RRT algorithm was used to design the cable path planning and realize the path planning and simulation of the cable in the Unity scenario.更多还原