基于改进RRT算法的移动机械臂路径规划
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1 太原科技大学机械工程学院,太原 030024;2 太原重工股份有限公司技术中心,太原 030024

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TP24

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国家重点研发计划项目(2018YFB1308700)、山西省关键核心技术和共性技术专项(2020XXX009)资助


Obstacle Avoidance Planning of Mobile Manipulator Based on Improved RRT Algorithm
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1 School of Mechanical Engineering , Taiyuan University of Science and Technology , Taiyuan 030024, China; 2 Technology Center , Taiyuan Heavy Industry Co., Ltd, Taiyuan 030024, China

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    摘要:

    针对传统RRT算法在复杂环境下的移动机械臂避障规划中效率较低,不能满足当前工作需求问题,提出了一种改进RRT避障路径算法。通过引入障碍物因子,减少了采样次数;通过对新节点生成方式进行约束,使其生长方向始终朝向目标点,加快了搜索速度;采用变步长策略,有效避免了在目标点附近出现震荡现象;通过简化路径并结合局部三次B样条曲线对其规划路径进行平滑处理,缩短了路径长度,提高了机械臂的平稳性。matlab仿真结果表明:改进RRT算法的平均路径长度缩短了20%,平均采样点数减少了62%,且转折点数减少了96%,收敛速度快,时间最优,能够满足特殊环境下移动机械臂的避障路径规划,具有较好的可行性和有效性。

    Abstract:

    In response to the traditional RRT algorithm in the complex environment, the mobile robotic arm avoidance planning is low, and the current work demand problem cannot be met, an improved RRT avoidance path algorithm is proposed. By introducing an obstacle factor, the number of samples is reduced, by constraining the new node generation mode, the growth direction of the new node is always toward the target point, which speeds up the search speed. Adopting a gentle-step strategy, effectively avoiding oscillating phenomena near the target point. The planned path is smoothed by simplifying the path and combining with local cubic B-spline curve, the length of the path is shortened, and the stability of the robot arm is improved. MATLAB simulation results show that the average path length of the improved RRT algorithm is shortened by 20%, the average number of sampling points is reduced by 62%, and the number of turning points is reduced by 96%. The convergence speed is fast and the time is optimal, which can meet the obstacle avoidance path planning of the mobile manipulator in special environment, and has good feasibility and effectiveness.

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张建冬,王 东,马立东,郭 鑫,刘洪伟.基于改进RRT算法的移动机械臂路径规划[J].电子测量技术,2021,44(23):48-53

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  • 在线发布日期: 2024-07-02
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