Robotic Path Planning Algorithm based on Ray Tracking and Diffuseness

摘要

This paper proposed a path planning algorithm based on ray tracking and diffuseness, named Ray Tracking & Illumination Algorithm, which searches for paths by simulating natural ray propagation and diffuse reflection, and uses redundant node removal and Bezier curve smoothing to improve the quality of the path. At the same time, in order to comprehensively evaluate the safety, length, smoothness and other indicators of a path, this paper puts forward the concept of “Motion Delay”, and evaluates the quality of the algorithm through the statistical motion delay of the path generated from many runs. Finally, a comparative test was conducted on the MATLAB platform with the A*, RRT, Informed RRT* and ABC-PSO algorithms. The results show that the generated path of RTI is smoother and safer. Especially, RTI is faster, more robust in the environment with U-shaped trap and less sensitive to the size of the map.