基于改进PRM的采摘机器人机械臂避障路径规划  

Obstacle avoidance path planning for harvesting robot arm based on improved PRM

作　　者：邹宇星 李立君[1] 高自成[1] ZOU Yu-xing;LI Li-jun;GAO Zi-cheng(School of Mechanical and Electrical Engineering,Central South University of Forestry and Technology, Changsha 410000,China)

机构地区：[1]中南林业科技大学机电工程学院,湖南长沙410000

出　　处：《传感器与微系统》2019年第1期52-56,共5页Transducer and Microsystem Technologies

基　　金：湖南省高校科技创新团队支持计划资助项目(2014207);湖南省科技计划重点研发资助项目(2016NK2142)

摘　　要：针对采摘机器人机械臂在不确定的环境中进行采摘作业的要求,提出了一种基于改进概率地图(PRM)算法的机械臂避障路径规划方法。将机械臂工作空间分割成离散单元集合,通过遍历的方法,获得机械臂工作空间中任意离散单元与机械臂有撞位姿之间的映射关系。将空间障碍物分割成离散单元,并通过索引映射关系获得与障碍物有撞的所有机械臂位姿信息,并以此建立关节构形空间。通过PRM算法在关节构形空间中快速搜索机械臂避障路径。仿真结果表明:相比传统PRM算法,改进算法速度提高22. 2%,能够有效地实现机械臂无碰撞路径规划。Aiming at requirement of harvesting robot arm in uncertain environments,a kind of obstacle avoidance path planning algorithm for robot arm based on improved probabilistic roadmap( PRM) algorithm is proposed.Workspace of the robot arm is divided into discretized unit set,mapping relationship between arbitary discrete element and collision position in workspace is obtained by traversal method. The obstacles are also divided into discretized units,collision position information is obtained,by indexing the mapping relationship,and the joint configuration space is constructed. Obstacle avoidance path of robot arm is quickly searched by PRM algorithm in joint configuration space. The simulation results show that compared with traditional PRM algorithm,the improved algorithm improves speed about 22. 2 %,it can effectively realize collision-free path planning of robot arm.

关 键 词：机械臂 避障路径规划 关节构形空间 概率地图法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]