串番茄采摘机械臂避障路径规划算法研究  

Research on Obstacle Avoidance Path Planning Algorithm of String Tomato Picking Robotic Arm

作　　者：张天成 李奇林 裴天朔 Zhang Tiancheng;Li Qilin;Pei Tianshuo(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou,Jiangsu 213001,China)

机构地区：[1]江苏理工学院机械工程学院,江苏常州213001

出　　处：《机电工程技术》2022年第9期127-131,177,共6页Mechanical & Electrical Engineering Technology

基　　金：江苏理工学院研究生科研与实践创新计划项目(编号:XSJCX20_45)。

摘　　要：在农业采摘机器人作业过程中,机械臂能否避开作业环境中的障碍物完成采摘对于保证农户收入有着至关重要的作用。研究对象为串番茄采摘环境中的机械臂避障路径规划算法,提出一种基于机械臂避障路径规划的将人工势场法进行改进,然后与RRT*算法结合的路径规划算法。该算法改进了人工势场法的斥力势场函数,并根据人工势场法易陷入极值的局限性,结合RRT*算法引导采摘机械臂去逃离极值状态。最后为验证算法在串番茄采摘环境下的鲁棒性和相对于改进前人工势场法的优越性,在MATLAB软件中模拟串番茄采摘环境进行机械臂避障路径规划的仿真实验,实验结果证明该算法在不同串番茄采摘环境下具备鲁棒性,且相比于人工势场法,能够以自适应的方法引导采摘机械臂成功逃离极值,完成避障路径规划,验证了其优越性。In the process of agricultural picking robots,whether the robotic arm can avoid obstacles in the operating environment to complete picking plays a crucial role in ensuring the income of farmers.The research object was the obstacle avoidance path planning algorithm of the manipulator in the tomato picking environment,and a path planning algorithm based on the manipulator obstacle avoidance path planning was proposed to improve the artificial potential field method,and then combined it with the RRT*algorithm.The algorithm improved the repulsive potential field function of the artificial potential field method,and according to the limitation of the artificial potential field method that was easy to fall into the extreme value,combined with the RRT*algorithm to guide the picking manipulator to escape from the extreme value state.Finally,in order to verify the robustness of the algorithm in the bunch tomato picking environment and the superiority,compared to the improved artificial potential field method,the simulation experiment of the robot arm obstacle avoidance path planning was carried out in the MATLAB software to simulate the bunch tomato picking environment.The algorithm is robust in different tomato picking environments,and compared with the artificial potential field method,it can guide the picking robotic arm to successfully escape from the extreme value and complete the obstacle avoidance path planning in an adaptive method,which verifies its superiority.

关 键 词：采摘机器人 运动规划 改进人工势场法 RRT*算法 仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]