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The Global Path Planning Algorithm Based on Optimization RRT Algorithm
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Wei Yang1, Liang Tan1, Xue Sun1, Yafeng Du1, Xiaobing Zhou1, 2
Automobile Technology | 2024, (3) : 31 - 36
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Automobile Technology | 2024, (3): 31-36
The Global Path Planning Algorithm Based on Optimization RRT Algorithm
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Wei Yang1, Liang Tan1, Xue Sun1, Yafeng Du1, Xiaobing Zhou1, 2
Affiliations
  • 1 Chang’an University, Xi’an 710064
  • 2 Commercial Vehicle Development Institute, FAW Jiefang Automobile Co., Ltd., Changchun 130011
Published: 2024-03-24 doi: 10.19620/j.cnki.1000-3703.20230346
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In order to improve the shortcomings of poor smoothness and potential collision in traditional Rapidly-exploring Random Tree (RRT) algorithm for global path planning, the paper proposed a dual-optimization RRT algorithm. Based on the traditional RRT algorithm, an adaptive target bias strategy was introduced to shorten the sampling time, and an angle-constrained sampling strategy was introduced to adapt to the vehicle’s maximum steering angle. After the initial path was obtained, a binary optimization function (reducing path curvature and avoiding obstacles) was established and used as a basis for gradient descent secondary optimization, generating a path that can be driven by vehicles with good smoothness and low collision probability, which was then simulated and verified. The results show that compared with RRT algorithm, RRT-Connect algorithm and RRT* algorithm, the optimized RRT algorithm reduces average curvature by 38.1%, 36.4% and 24.7%, respectively; while reducing curvature variance by 38.4%, 38.4% and 27.2%, respectively.

Rapidly-exploring Random Tree (RRT)  /  Global path planning  /  Obstacle avoidance  /  Gradient descent method
Wei Yang, Liang Tan, Xue Sun, Yafeng Du, Xiaobing Zhou. The Global Path Planning Algorithm Based on Optimization RRT Algorithm[J]. Automobile Technology, 2024 , (3) : 31 -36 . DOI: 10.19620/j.cnki.1000-3703.20230346
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doi: 10.19620/j.cnki.1000-3703.20230346
  • Online Date：2025-12-23
  • Published：2024-03-24
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    1 Chang’an University, Xi’an 710064
    2 Commercial Vehicle Development Institute, FAW Jiefang Automobile Co., Ltd., Changchun 130011
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