针对密集障碍代价空间中存在的局部裂缝区域,基于采样的路径规划方法随机生成的节点无法进行有效扩展,形成可行路径的概率极低的问题,采用电势原理建立环境威胁模型,提出局部区域启发模式转换机制及节点一步检测方法。采用路径代价改进Transition-based RRT算法的节点选择机制,实现节点扩展的双启发。仿真结果表明,该算法能够有效地解决上述问题,其算法性能和路径生成优于同类算法。 Aiming at the local crack area existing in the cost space of intensive obstacles, the randomly generated nodes based on the sampled path planning method can not effectively expand and form a feasible path with extremely low probability. The potential threat model is established based on the principle of potential and the local area heuristic mode Conversion mechanism and node one-step detection method. The node selection mechanism of Transition-based RRT algorithm is improved by using path cost to realize double enlightenment of node expansion. The simulation results show that this algorithm can effectively solve the above problems, and its algorithm performance and path generation are superior to similar algorithms.