Robot Path Planning Based on Improved RRT Algorithm

Path planning is an important research content of mobile robot. Because of the successful application of Rapidly-Exploring Random Tree (RRT) algorithm in robot path planning, it has been greatly studied and developed since it was proposed. In this paper, the robot path planning simulation experiment is carried out for two two-dimensional maze environment, whose sizes are 860 * 770 and 1250 * 1000 respectively. One of the mazes is circular, and the other is composed of many square obstacles. In the case of unknown maze environment, any two points in the maze are selected as the starting point and end point to plan the path between them. In this paper, RRT algorithm is used, and then the algorithm is improved. Dijkstra algorithm is used to find the optimal path from the beginning to the end. In this paper, the random search tree algorithm is used to start from the starting point and search the random number until the target point is reached. Then Dijkstra algorithm is used to search the shortest path from the target point to the end point. Record the nodes and paths of the fast search tree, and then find the optimal path through Dijkstra algorithm. Through the implementation of fast search tree algorithm by Visual Studio (VS), the optimal path is obtained. The optimal path is shown by Matlab.