Feasible Path Search Algorithm on Two Dimensional Manifold S2
Yunyun Song, Xingxin Li · 2024
Spherical Barrier Free RRT path search method (SBF-RRT) can be solved the problem of the feasible path search on two-dimensional manifold S2. SBF-RRT algorithm is based on RRT algorithm, an area uniform sampling model based on Monte Carlo integration method can be solved the problem of uniform random sampling on two-dimensional manifold S2. The approximate distance measurement function of two-dimensional manifold surface distance between two points on manifold S2can be obtained by arc segment proportional segmentation method. The angle cutting method can be solved the new node generation model on S2surface. The continuous interpolation method can be solved the directed connection problem between two points on the manifold S2. The feasibility and effectiveness of the SBF-RRT algorithm have been verified through simulation experiments. The SBF-RRT algorithm can be searched for a feasible path on the two-dimensional manifold S2.