基于TSA*算法的双机械臂协同避障规划方法  

Looperative obstacle avoidance planning method of two manipulacors based on TSA*algorithm

作　　者：胥芳[1] 沈旭明 谭大鹏[1] Xu Fang;Shen Xuming;Tan Dapeng(School of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310014)

机构地区：[1]浙江工业大学机械工程学院,杭州310014

出　　处：《高技术通讯》2021年第5期516-526,共11页Chinese High Technology Letters

基　　金：国家自然科学基金(51775501);浙江省自然科学基金(LR21E050003)资助项目。

摘　　要：提出了一种基于时序A*(TSA*)算法的双机械臂路径规划方法。针对A*算法在高维环境下计算时间急剧增加的问题,引入期望步数Fs避开无效节点,减少计算工作量;在高维空间搜索时,因open表急剧变大导致维持open表最小二叉堆结构的时间大幅增加,通过对open表进行拆分,进而降低维持open表结构的时间消耗。主臂在静态环境中进行避障路径规划,从臂以主臂为已知动态障碍物进行路径规划。在规划从臂时,通过运动等待策略实现从臂自动做出等待决策。经过仿真实验对比,验证了该算法的有效性和可行性。A path planning method of double manipulator is proposed based on time sequence A*(TSA*)algorithm.In the static environment,motion planning for the main arm is obtained.Then the main arm is regarded as dynamic obstacles to obtain a feasible motion trajectory of the slave arm.Aiming at the problem that the computing time of A*algorithm increases sharply in high-dimensional environment,the expected steps Fs are introduced to avoid invalid nodes and reduce the computing workload.In high-dimensional space search,the time to maintain the minimum binary heap structure of the open table increases greatly due to the sharp increase of the open table,which can be reduced by splitting the open table.When planning the slave arm,the slave arm can automatically make the waiting decision through the motion waiting strategy.The simulation results show that the proposed algorithm is effective and feasible.

关 键 词：A*算法 双臂机器人 避障 主从规划 已知动态环境 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]