基于七次多项式插值的RRT避障规划  

RRT Obstacle Avoidance Planning Based on Seventh Degree Polynomial Interpolation

作　　者：石英男 胥光申[1,2] 盛晓超 SHI Yingnan;XU Guangshen;SHENG Xiaochao(School of Mechanical and FEletrical Engineering,Xi'an Pdytechnie University,Xi'an 710048,China;Xi'an Key Laboratory of Modern Intelligent Textile Equipment,Xi'an Polytechnie Universily,Xi'an 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048 [2]西安工程大学西安市现代智能纺织装备重点实验室,陕西西安710048

出　　处：《轻工机械》2022年第6期1-6,共6页Light Industry Machinery

摘　　要：为了减少机器人在避障运动过程中的抖动,提高机器人作业精度,课题组提出采用七次多项式插值法对运动过程中的各个关节进行轨迹规划。课题组通过MATLAB平台对机器人进行仿真,采用七次多项式插值法对机器人避障运动过程进行轨迹规划。仿真结果表明:采用七次多项式插值法进行轨迹规划时可以得到平滑的关节角位移、角速度和角加速度曲线,机器人的运动轨迹更加平滑。课题组的研究对机器人避障轨迹规划的研究具有参考意义。In order to reduce the jitter of the robot in the process of obstacle avoidance and improve the working accuracy of the robot, a seventh degree polynomial interpolation method was proposed to plan the trajectory of each joint in the process of motion. The robot was simulated by MATLAB platform, and the trajectory planning of the robot obstacle avoidance movement process was carried out by using the seventh degree polynomial interpolation method. The simulation results show that the trajectory planning using the seventh degree polynomial interpolation method can get a smooth curve of joint displacement, angular velocity and angular acceleration, and the motion trajectory of the robot is more stable. The research has reference significance for the research of robot obstacle avoidance trajectory planning.

关 键 词：机器人 避障路径规划 七次多项式插值 快速拓展随机树算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TH164[自动化与计算机技术—控制科学与工程]