Dynamic step length-based target gravity bidirectional RRT path planning method
A technology of dynamic step size and path planning, applied in navigation computing tools and other directions, can solve the problems of reducing the randomness of path search, poor real-time performance, and unreachable targets, and achieve the effect of improving the success rate of path search and enhancing the ability to avoid obstacles.
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[0025] Embodiment 1: as Figure 1-8 As shown, a dynamic step-based two-way RRT path planning method for target gravity, its main flow chart is as follows figure 1 As shown, the specific steps of the method are as follows:
[0026] Step 1. Build the working environment of the intelligent robot and set it in a 1000×1000 environment, such as figure 2 As shown in , the static obstacles are randomly distributed in black irregular shapes, with different sizes;
[0027] Step 2: Determine the initial point Xinit position and the target point Xgoal position of the intelligent robot in the state space C. figure 2 The lower left corner [0,0] is the initial point Xinit of the intelligent robot, and the upper right corner [1000,1000] is the target point Xgoal of the intelligent robot. Among them, the state space C refers to the working environment; the state space C is composed of the free space Xfree and the obstacle space Xobs, the obstacle space Xobs is composed of static obstacles...
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