informed rrt
时间: 2023-12-26 07:02:39 浏览: 33
Informed RRT(Informed Rapidly-exploring Random Tree)是一种用于解决路径规划问题的算法。它基于 RRT 算法,但通过使用启发式搜索来指导树的生长,可以更快地找到可行的路径。
在 Informed RRT 中,启发式信息被用来引导树的生长,以便更快地探索可能的路径。这种信息可以是关于目标位置的启发式函数值,也可以是有关障碍物位置的信息。通过利用这些信息,算法可以更有针对性地生成节点,以便更快地找到一条可行的路径。
Informed RRT 算法具有以下优点:首先,它通常能够更快地找到路径,因为它利用启发式信息来指导搜索。其次,它可以更容易地适应动态环境,因为可以在树的生长过程中不断更新启发式信息。另外,Informed RRT 适用于高维空间,并且对于多种形状的机器人都具有很好的鲁棒性。
总的来说,Informed RRT 是一种既高效又灵活的路径规划算法,适用于各种复杂环境下的机器人路径规划问题。通过利用启发式信息来指导搜索,它能够更快地找到可行的路径,并且能够很好地适应动态环境的变化。
相关问题
informed RRT
Informed RRT*是一种路径规划算法,它通过使用椭圆采样区域来引导采样点的选择,以提高路径规划的效率和质量。在该算法中,起点和终点被视为椭圆的焦点,椭圆的参数由初始路径长度的一半和最小路径长度的一半确定。通过转换坐标系,可以将采样点从原始坐标系转换到椭圆坐标系,以便更好地探索椭圆采样区域。通过使用椭圆采样区域,Informed RRT*算法可以更加聚焦地搜索路径空间,从而更高效地找到最优路径。\[1\]\[2\]\[3\]
#### 引用[.reference_title]
- *1* *2* *3* [路径规划 | 随机采样算法:Informed-RRT*](https://blog.csdn.net/qq_42688495/article/details/116794996)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
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informed RRT star算法
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.
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