基于改进RRT^(*)算法的超冗余度机器人末端避障路径规划  

Obstacle Avoidance Path Planning at End of Super Redundant Robot Based on Improved RRT^(*)Algorithm

作　　者：赵盼 杜兆才 刘江[2] 王明阳 ZHAO Pan;DU Zhaocai;LIU Jiang;WANG Mingyang(AVIC Manufacturing Technology Institute,Beijing 100024,China;University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]中国航空制造技术研究院,北京100024 [2]北京科技大学,北京100083

出　　处：《航空制造技术》2023年第4期90-95,110,共7页Aeronautical Manufacturing Technology

基　　金：国家重点研发计划(2019YFB1311203);国防基础科研(JCKY2018205B005)。

摘　　要：针对超冗余度机器人路径跟随运动,研究了末端避障路径规划方法,在障碍物建模方面,对超冗余度机器人关节结构及路径跟随运动状态进行分析,引入路径约束,并对障碍物进行膨胀化处理;在路径规划层面上,对传统RRT^(*)算法进行了优化,采用改进路径生成方式、引入转角约束、碰撞后调整等策略,改进了传统RRT^(*)算法随机路径转角大、路径复杂等缺点,并在MATLAB中进行了试验验证。结果表明,与传统RRT^(*)算法所规划的路径相比,该方法能够有效缩短路径长度,减少节点数量,提升路径规划的质量。Aiming at the path following motion of super redundant robot,the end obstacle avoidance path planning method is studied.In the aspect of obstacle modeling,the joint structure and path following motion state of super redundant robot are analyzed,the path constraints are introduced,and the obstacles are inflated;At the level of path planning,the traditional RRT^(*)algorithm is optimized,and the improved sampling method,the introduction of corner constraint and post collision adjustment are adopted to improve the traditional RRT^(*)algorithm’s disadvantages such as large random path and complex path.Experimental verification is carried out in MATLAB,and the results show that compared with the path planned by the traditional RRT^(*)algorithm,this method can effectively shorten the path length,reduce the number of nodes,and improve the quality of path planning.

关 键 词：超冗余度机器人 路径规划 路径跟随 改进RRT^(*)算法 转角约束 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]