一种装配路径规划改进GoalBia-RRT算法  

An Improved GoalBia-RRT Algorithm in Assembly Path Planning

作　　者：张璐璐 刘恩福[1] 刘晓阳[1] ZHANG Lu-lu;LIU En-fu;LIU Xiao-yang(School of Mechanical Engineering,Hebei University of Science and Technology,Hebei Shijiazhuang 050018,China)

机构地区：[1]河北科技大学机械工程学院,河北石家庄050018

出　　处：《机械设计与制造》2018年第11期208-211,215,共5页Machinery Design & Manufacture

基　　金：河北省应用基础研究计划重点基础研究项目(14961811D);河北省高等学校技术研究项目(QN2014207)

摘　　要：针对复杂产品装配路径规划问题,提出一种偏目标型快速扩展随机树改进算法。该算法主要是基于偏向目标快速扩展随机算法(GoalBia-RRT),采用混沌搜索生成随机采样点的策略和局部引导新节点生成策略进行改进,不仅能够快速搜索覆盖整个装配空间,使朝着目标点生长的搜索路径可以快速脱离局部极小区域,避免陷入局部极小值问题,而且得到的路径可通行性得到极大改善。最后,通过仿真实验验证了该算法的优越性,并集成在CATIA平台上,开发出原型系统,通过实例验证了可行性和实用性。A partial goal-fast random tree algorithm is proposed for the problem of complex product assembly path planning.This algorithm is based on the biased target rapid expansion of randomized algorithms(GoalBia-RRT),using chaotic search to generate the random sample points and local strategies to guide the new node generation strategy to improve.It could not only cover the entire assembly search space fast and make the search path with the growth towards to target point quickly escape form the local minima area,avoiding falling into local minima problem,but also the passable sexual of the path is greatly improved.Finally,the simulation results show the superiority of the improved algorithm,and integrated in the CATIA platform to develop a prototype system,using examples demonstrate the feasibility and practicality.

关 键 词：装配路径规划 偏目标快速扩展随机树(GoalBia-RRT) 混沌序列 CATIA/CAA 局部极小值问题 

分 类 号：TH16[机械工程—机械制造及自动化] TP39[自动化与计算机技术—计算机应用技术]