ࡱ> QSP'` RebjbjqC%,,,$PxxxP$4P:,`(((:::::::<h,?B:,*("(**::666*,:6*:66h,6  `(=)x169,:0:6n?4n?66n?,/8(>(,6)$2)(((::5^(((:****PPP$ tPPPtPPP WN*gwsX N9eۏvRRT_ĉR{l Y[=NZ l?eQ R\yb'Yf[ ꁨRSN5uP[] zf[b q\Nw R\^ 266042 Xd [yR:ghVNЏ(u_ibU\h(RRT){lۏL_ĉR :g'`'Yv cQNNyvh_R_vRRT_ĉR{l0勗{l(WRRT{lvW@x N _eQNN*Nvh_RQpe OOibU\:ghgvhpeTu0Nw~ghf 勗{lcؚN YBgsX N:ghVN_ĉRvHes Y_0RcяNgwv_ v^[ TNNRvĉRwQ gN[vS͑ Y'` Y[hQv_xir0 sQ.͋_ĉR_ibU\:gh(RRT)vh_RQpe e.shƋxA -NVR{|S TP24 The Improved RRT Path Planning Algorithm Based on Unknown Environment SUN Lina SHEN Zhengjun (College of Automation & Electronic Engineering Qingdao University of Science and Technology, 266042, China) Abstract: Aiming to solve the uncertainty using rapidly-exploring random tree (RRT) for path planning algorithm, an algorithm of mobile robot path planning based on target gravity is proposed. The algorithm introduces target gravitational function, which makes the random tree grow toward the target. Simulation results show that the algorithm improves path planning efficiency in the complex environment; the path is close to the shortest path, avoids obstacles safely and has a certain repeatability for the planning of same task. 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[2] s=N.yR:ghVN_ĉRelxvz[D].S]N'Yf[UxXe.2007,3. [3] ^N,u%f,QR.*gwsX N9eۏvWNRRT{lvyR:ghVN_ĉR[J].!j_Ƌ+RNN]zf.2009,22(3)337-343. [4] MelchiorNA, SimmonsR. Particle RRT for Path Planning with Uncertainty[J].Proc of the IEEE International Conference on Robotics and Automation. Roma, Italy, 2007:1617- 1624. [5] Qg,>.WN[kOSvRRT_ĉR9eۏ{l[J].{:g] zN^(u,2011,47 (3):210-213. [6] sn,ёfl,"[fkI{.WN/TS_v_ibU\:gh_ĉR{l[J].:gh6R ,2007, 45 (12):1-4. [7] [ёl,4be,USi`_I{.Ny9eۏvRRT_ĉR{l[J].5uP[f[b,2010,2A (38):225-228. [8] ؚN\,Ğwm. 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