Improved RRT-Connect path planning algorithm for biped robot

摘要

When lots of narrow passages are contained in the configuration space,the algorithm of Rapidly-exploring Random Tree(RRT) can hardly get the path.In order to deal with the problem,an improved RRT-Connect algorithm was presented.An improved bridge test algorithm was employed to identify and sample narrow passages,so it could be easy to get the connectivity.Combining RRT-Connect with anytime algorithm,the cost of RRT-Connect could be reduced obviously.Each algorithm was run 100 times.Compared with RRT-Connect,the successes' number of the improved algorithm was increased from 34 to 93,and the path planning time was decreased from 9.3 s to 4.2 s.The biped robot simulation results demonstrate that the algorithm can get the optimal path inside the narrow passages;meanwhile,it improves the efficiency.