关键词: 快速扩展随机树（RRT）, 路标引导, 增长采样区域, 快速搜索, 贝塞尔曲线拟合

Abstract:

In multi-intersection environment, RRT has the problems of long search time, wide search range and uneven path. A hybrid strategy based on landmark guidance and increasing sampling area is proposed to guide RRT algorithm to search for targets. Firstly, the map will be preprocessed to remove the smaller obstacles, save the large obstacles as far as possible, and get the preprocessed map. In the new map, the intersection area is set up withlandmark, and the combination of visual areas of landmark should cover the whole map. Then, according to the connected areas on the new map, by searching for the optimal combination of landmark from the starting point to the end point, a moving growth sampling area is constructed between the two adjacent landmark to guide the RRT algorithm to search for the target quickly. Finally, the RRT algorithm is pruned by tree branches and secondary Bezier curve fitting generates smooth path. The effectiveness, rationality and correctness of the algorithm are verified by simulation experiments.

Key words: Rapidly exploring Random Tree（RRT）, landmark guidance, growing sampling area, quick search, Bezier curve