基于ROS的双机器人路径规划  

ROS-Based Path Planning Algorithm for Dual Robots

作　　者：张宁 张彩霞[1] 高萌 林壮 郭静[1,3] 余伟 ZHANG Ning;ZHANG Cai-xia;GAO Meng;LIN Zhuang;GUO Jing;YU Wei(School of Mechatronic Engineering and Automation,Foshan University,Foshan 528000,China;Foshan Institute of Intelligent Equipment Technology,Foshan 528000,China)

机构地区：[1]佛山科学技术学院机电工程与自动化学院,佛山528000 [2]佛山智能装备技术研究院,佛山528000 [3]广东省智慧城市基础设施健康监测与评估工程技术研究中心,佛山528000

出　　处：《组合机床与自动化加工技术》2022年第9期29-32,37,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金青年基金(61803086);广东省基础与应用基础研究基金粤港澳应用数学中心项(2020B1515310003);佛山核心技术攻关项目(1920001001367);广东省粮油质量安全大数据工程技术研究中心。

摘　　要：为了使双机械臂能够在复杂的环境中完成协同运动任务,提出了一种基于机器人操作系统(robot operating system,ROS)的改进路径规划算法。首先,根据双机械臂的坐标系,推导出相关的约束关系,为减小轨迹误差设计一种双机械臂标定方法,准确计算出双机械臂基座标齐次变换关系;其次,为了优化机械臂的运动规划算法,对传统的快速随机搜索树(rapidly-exploring random tree,RRT)算法进行偏置采样,融合(probabilistic road map,PRM)算法对路径进行二次优化,使其获得最短路径;最后,通过五次多项式对获得的路径进行轨迹优化。整个方案通过ROS控制实际机器人进行算法验证,实际结果证明,所提方案规划效率更高。In order to enable the dual robotic arms to accomplish cooperative motion tasks in complex environments,an improved path planning algorithm based on robot operating system(ROS)is proposed in this paper.First,based on the coordinate system of the dual robotic arms,we derive the relevant constraints,design a dual robotic arm calibration method to reduce the trajectory error,and accurately calculate the base scale flush transformation relationship of the dual robotic arms;second,in order to optimize the motion planning algorithm of the robotic arms,the traditional rapidly-exploring random tree(RRT)algorithm is Secondly,to optimize the motion planning algorithm of the robot arm,the traditional rapidly-exploring random tree(RRT)algorithm is biased and sampled,and the path is optimized twice by incorporating the probabilistic road map(PRM)algorithm to obtain the shortest path;finally,the obtained path is optimized by using a quintuple polynomial.The whole scheme is verified by ROS control of the actual robot,and the actual results prove that the proposed scheme is more efficient in planning.

关 键 词：ROS RRT算法 偏置采样 PRM算法 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]