AN IMPROVED RRT DUAL TREE PATH PLANNING ALGORITHM

Aiming at the problems of high randomness, many redundant nodes and low efficiency when the map is complex, an improved RRT dual tree algorithm is proposed. Firstly, the algorithm adopts the method of bi-directional growth and adding the target bias factor to the starting point expansion tree to shorten the running time of the algorithm and reduce the probability of exploring the invalid space; secondly, it simplifies the path by greedy thought, removes the redundant nodes, and smoothes the corner by quadratic B-spline curve; finally, through the comparison of simulation experiments.The algorithm has higher search efficiency and better results ,the algorithm has shorter path and higher smoothness, which verifies the accuracy and feasibility of the algorithm.