基于改进APF-RRT的机械臂避障路径规划  

Obstacle avoidance path planning of manipulator based on improved APF-RRT

作　　者：田金文 于镭[1] 李衍照 Tian Jinwen;Yu LeiLi;Yanzhao(School of Automation and Electronic Engineering,Qingdao University of Science and Technology,Qingdao 266061,China)

机构地区：[1]青岛科技大学自动化与电子工程学院,青岛066061

出　　处：《电子测量技术》2022年第22期41-46,共6页Electronic Measurement Technology

基　　金：山东省重大科技创新工程(2021SFGC0601)项目资助。

摘　　要：为提高机械臂在复杂环境下的避障路径规划效率,提出一种适用于椭球障碍物的改进人工势场-快速搜索随机树(APF-RRT)算法。首先,使用椭球体包围盒包络障碍物,对椭球体的碰撞检测进行分析;其次,为了加快路径探索速度,引入随机点效应与随机点选择机制对RRT算法进行改进,机械臂采用改进后的RRT与人工势场法的混合方法进行路径规划;最后,对规划好的路径进行冗余点删除,并使用四次B-样条曲线对路径进行平滑,提升路径的质量。实验结果表明,相较于经典算法,该算法能够快速完成避障路径规划且规划路径更短。To improve the efficiency of obstacle avoidance path planning of collaborative robot in complex environments,improved artificial potential field&rapidly exploring random tree(APF-RRT)algorithm for ellipsoid obstacles.First of all,enveloped obstacle with ellipsoid bounding box,then the collision detection method was analyzed;In addition,to speed up path exploration Random point effect and random point selection mechanism were introduced to improve the RRT algorithm,then the hybrid method of improved RRT and artificial potential field was uesd for path planning;Finally,deleted redundant points on the planned path,and four-time B-spline curve was used for path smoothness,improved path quality.The simulation results showed that,in the ellipsoid obstacle environment,the algorithm can complete the obstacle avoidance path planning quickly and the planned path was shorter.

关 键 词：避障路径规划 碰撞检测 人工势场法 快速搜索随机树 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]