基于RRT-A^(*)融合算法的机械臂避障路径规划  

Obstacle Avoidance Path Planning of Manipulator Based on RRT-A^(*) Fusion Algorithm

作　　者：李明[1] 赵金龙 袁逸萍[1] 晁永生[1] LI Ming;ZHAO Jin-long;YUAN Yi-ping;CHAO Yong-sheng(College of Mechanical Engineering,Xinjiang University,Xinjiang Urumqi 830047,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830047

出　　处：《机械设计与制造》2023年第3期175-178,182,共5页Machinery Design & Manufacture

基　　金：自治区科技支疆项目(2019E0213)。

摘　　要：针对RRT算法在三维避障路径规划过程中会出现耗时长、路径长度不是最优、且转折点多的问题,提出一种RRTA^(*)融合算法,并应用于机械臂避障路径规划。首先,完善碰撞检测模型,对障碍物和机械臂进行合理的简化。其次,建立空间障碍物三维模型,在障碍物环境下先使用双向RRT算法规划出可行的避障路径。最后,使用A^(*)算法选取该避障路径上的关键节点,并建立三次B样条插值函数,提高避障路径和运动图像的平滑性。仿真结果验证了该方法的有效性。AnRRT-A^(*) fusion algorithm is proposed and used for obstacle avoidance path planning,to solve the problem that RRT algorithm takes time,path length is not optimal,and there are many turning points in the process of 3D obstacle avoidance path planning. Firstly,simplify the obstacles and manipulator reasonably to improve the collision detection model. Secondly,a3D model of space obstacles is established,and the RRT-connect algorithm is used to plan a feasible path in an obstacle environment. Final,use the A^(*)algorithm to select the key nodes of the obstacle avoidance path,and establish a cubic B-spline interpolation function to generate a smooth manipulator obstacle avoidance path and moving images. Simulation results verify the effectiveness of the proposed method.

关 键 词：机械臂 RRT-A^(*)融合算法 三次B样条 平滑性 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]