informed RRT star算法
时间: 2023-12-26 08:06:37 浏览: 37
Informed RRT* (Rapidly-exploring Random Tree star) algorithm is an extension of the RRT* algorithm used in robotics and motion planning. Informed RRT* uses an informed sampling strategy to bias the tree growth towards the goal region, making it more efficient than RRT* in terms of computational complexity.
The informed sampling strategy involves computing a heuristic function that estimates the distance from a given point to the goal region. This function is used to bias the sampling of new points towards the goal region, so that the tree grows more quickly in the direction of the goal.
In addition, Informed RRT* uses a technique called "rewiring" to improve the connectivity of the tree. This involves identifying nodes that are no longer useful for connecting the tree to the goal region, and replacing them with new nodes that provide better connectivity.
Overall, Informed RRT* is a powerful algorithm for motion planning in complex environments, and has been successfully applied in a wide range of robotic applications.