Home Journals Articles Updates About
CN
image
收藏切换
Research on Improved RRT Path Planning Algorithm Based on Two-Time Steer Angel Constraint
收藏切换
PDF
Jiading Bao1, Guoan Zhong1, Guo Ma2, Haijun Xu2, Hui Jing1
Automobile Technology | 2024, (6) : 24 - 31
Less
收藏切换
Automobile Technology | 2024, (6): 24-31
• Feature Topic of Electric Vehicle to Grid (V2G) Optimization •
Research on Improved RRT Path Planning Algorithm Based on Two-Time Steer Angel Constraint
Full
Jiading Bao1, Guoan Zhong1, Guo Ma2, Haijun Xu2, Hui Jing1
Affiliations
  • 1 Guilin University of Electronic Technology, Guilin 541004
  • 2 Liuzhou Wuling Automobile Industry Co., Ltd., Liuzhou 545007
Published: 2024-06-24 doi: 10.19620/j.cnki.1000-3703.20230371
Outline
收藏切换

Aiming at the problems that the Rapid-exploration Random Tree (RRT) algorithm is easy to lead to node expansion redundancy and the generated path does not meet the vehicle rotation angle constraint, an improved secondary rotation angle constraint RRT algorithm is proposed. Based on the traditional RRT algorithm, the sampling space is first cut, and the target offset strategy is introduced to reduce the sampling time. Then, the vehicle expansion processing and the straight line method are used to detect the obstacle collision, and the first rotation angle constraint is introduced to obtain the coarse solution path. Then, the secondary angle constraint optimization processing is established for the rough solution path, and the vehicle optimization path is obtained and fitted, and the simulation verification is carried out. The results show that compared with the biased RRT algorithm with the goal-oriented strategy, the maximum curvature of the path is reduced by 34.33 %, the average curvature is reduced by 47.36 %, the number of extended nodes is reduced by 47.62 %, the path distance is reduced by 7.76 %, and the planning time is reduced by 14.98 %.

Improved RRT algorithm  /  Steering angle constrain  /  Path planning  /  Path curvature  /  Path smoothness
Jiading Bao, Guoan Zhong, Guo Ma, Haijun Xu, Hui Jing. Research on Improved RRT Path Planning Algorithm Based on Two-Time Steer Angel Constraint[J]. Automobile Technology, 2024 , (6) : 24 -31 . DOI: 10.19620/j.cnki.1000-3703.20230371
Appendix
Less
Year 2024 volume Issue 6
PDF
352
156
Cite this Article
BibTeX
Article Info
doi: 10.19620/j.cnki.1000-3703.20230371
  • Online Date：2025-12-23
  • Published：2024-06-24
Article Data
Affiliations
History
Funding
Affiliations
    1 Guilin University of Electronic Technology, Guilin 541004
    2 Liuzhou Wuling Automobile Industry Co., Ltd., Liuzhou 545007
References
Share
https://castjournals.cast.org.cn/joweb/qcjs/EN/10.19620/j.cnki.1000-3703.20230371
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
关闭全屏
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
010-62199257
qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House