Application of improved RRT algorithm in the U-turn of vehicle
Haobo Yin, Ju Jiang, Pan Liu, Shuang Tang · 2021 China Automation Congress (CAC) · 2021
This article provides a solution for the path planning problem of AGV(Automated Guided Vehicle) during the U-turn. Paper not only modifies the sampling strategy of the traditional RRT (Rapid exploration random tree) algorithm to speed up the convergence of the algorithm, but also integrates TOPSIS (Technique for Order Preference by Similarity to an Ideal Solution) into the algorithm so that the route generated by the algorithm can meet the requirements of multiple indicators at the same time. In this way, the generation of invalid path is limited during the path planning, so the pruning step is omitted, and the running time of the algorithm is accelerated. The reliability of the algorithm is verified by simulation. The proposed method not only provides practical engineering significance for obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of path planning.