NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning
In recent years, the path planning of robot has been a hot research direction, and multirobot formation has practical application prospect in our life. This article proposes a hybrid path planning algorithm applied to robot formation. The improved Rapidly Exploring Random Trees algorithm PQ-RRT∗ wit...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6633878 |
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| _version_ | 1832565980797075456 |
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| author | Zihan Yu Linying Xiang |
| author_facet | Zihan Yu Linying Xiang |
| author_sort | Zihan Yu |
| collection | DOAJ |
| description | In recent years, the path planning of robot has been a hot research direction, and multirobot formation has practical application prospect in our life. This article proposes a hybrid path planning algorithm applied to robot formation. The improved Rapidly Exploring Random Trees algorithm PQ-RRT∗ with new distance evaluation function is used as a global planning algorithm to generate the initial global path. The determined parent nodes and child nodes are used as the starting points and target points of the local planning algorithm, respectively. The dynamic window approach is used as the local planning algorithm to avoid dynamic obstacles. At the same time, the algorithm restricts the movement of robots inside the formation to avoid internal collisions. The local optimal path is selected by the evaluation function containing the possibility of formation collision. Therefore, multiple mobile robots can quickly and safely reach the global target point in a complex environment with dynamic and static obstacles through the hybrid path planning algorithm. Numerical simulations are given to verify the effectiveness and superiority of the proposed hybrid path planning algorithm. |
| format | Article |
| id | doaj-art-2c17255937f84794bc13b808ece9cf1b |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-2c17255937f84794bc13b808ece9cf1b2025-02-03T01:05:26ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66338786633878NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path PlanningZihan Yu0Linying Xiang1School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, ChinaSchool of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao 066004, ChinaIn recent years, the path planning of robot has been a hot research direction, and multirobot formation has practical application prospect in our life. This article proposes a hybrid path planning algorithm applied to robot formation. The improved Rapidly Exploring Random Trees algorithm PQ-RRT∗ with new distance evaluation function is used as a global planning algorithm to generate the initial global path. The determined parent nodes and child nodes are used as the starting points and target points of the local planning algorithm, respectively. The dynamic window approach is used as the local planning algorithm to avoid dynamic obstacles. At the same time, the algorithm restricts the movement of robots inside the formation to avoid internal collisions. The local optimal path is selected by the evaluation function containing the possibility of formation collision. Therefore, multiple mobile robots can quickly and safely reach the global target point in a complex environment with dynamic and static obstacles through the hybrid path planning algorithm. Numerical simulations are given to verify the effectiveness and superiority of the proposed hybrid path planning algorithm.http://dx.doi.org/10.1155/2021/6633878 |
| spellingShingle | Zihan Yu Linying Xiang NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning Complexity |
| title | NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning |
| title_full | NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning |
| title_fullStr | NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning |
| title_full_unstemmed | NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning |
| title_short | NPQ-RRT∗: An Improved RRT∗ Approach to Hybrid Path Planning |
| title_sort | npq rrt∗ an improved rrt∗ approach to hybrid path planning |
| url | http://dx.doi.org/10.1155/2021/6633878 |
| work_keys_str_mv | AT zihanyu npqrrtanimprovedrrtapproachtohybridpathplanning AT linyingxiang npqrrtanimprovedrrtapproachtohybridpathplanning |