基于改进RRT算法的七自由度机械臂路径规划  

Path Planning of Seven Degrees of Freedom Mechanical Arm Based on Improved RRT Algorithm

作　　者：沈业全 刘霞[1] SHEN Yequan;LIU Xia(School of Intelligent Manufacturing,Jianghan University,Wuhan 430056,Hubei,China)

机构地区：[1]江汉大学智能制造学院,湖北武汉430056

出　　处：《江汉大学学报（自然科学版）》2022年第6期42-49,共8页Journal of Jianghan University：Natural Science Edition

基　　金：湖北省重点研发计划项目(2020BCB054)。

摘　　要：针对七自由度机械臂路径规划问题提出了一种改进的RRT算法,该算法在RRT算法的基础上加入了双向搜索、贪婪思想、动态步长和新节点生成等优化策略,缩短了算法运行时间以及路径长度。在ROS下将RRT算法与改进的RRT算法进行仿真对比实验,结果表明,改进的RRT相对于RRT算法规划时间缩短了65.1%,路径长度缩短了50.6%,成功率提高了4.0%,达到了预期效果。This paper proposed an improved RRT algorithm for the path planning problem of the seven degrees of freedom(7—DOF)mechanical arm.Based on the RRT algorithm,optimization strategies such as two—way search,greedy idea,dynamic step size,and new node generation were added to shorten the algorithm's running time and path length.Under ROS,the RRT algorithm was simulated and compared with the improved RRT algorithm.The results showed that compared with the RRT algorithm,the planning time of the improved RRT algorithm was shortened by 65.1%,the path length was shortened by 50.6%,and the success rate was increased by 4.0%,which achieved the expected effect.

关 键 词：快速扩展随机树(RRT) ROS 机械臂 路径规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]