基于警戒机制的RRT无碰撞双路径规划算法  

A Collision-Free Dual Path Planning Algorithm for RRT Based on Warning Mechanism

作　　者：赵代先 谷侃锋[1,2,4] ZHAO Dai-xian;GU Kan-feng(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169 [3]中国科学院大学,北京100049 [4]辽宁省智能检测与装备技术重点实验室,沈阳110179

出　　处：《组合机床与自动化加工技术》2023年第4期1-4,9,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对双臂机器人或双机械臂的路径规划问题,提出一种双路径快速扩展随机树(DP-RRT)算法。基于传统的快速扩展随机树(RRT)算法,设计了一种警戒机制,使同时生长的两个随机树能够时刻相互感知,且互为动态障碍来规避彼此;采用交替生长策略改进生长过程,来避免相互间可能出现的无序碰撞、路径交叉和生长抑制等问题,并引入非均匀B样条曲线来平滑路径,以减小机械臂运动产生的冲击。仿真结果表明,与两次应用RRT算法相比,各种环境的规划成功率都有所提升,尤其在10 mm大步长条件下,4种环境的搜索成功率分别提升了10%、31%、65%、84%,平均总路径减少10.8%。总之,DP-RRT算法在搜索成功率,计算时间和路径质量上都比与传统两次应用RRT算法的方案表现得更好。Aiming at the path planning problem of dual-arm robots or dual-manipulators,a dual-path rapidly expanding random tree(DP-RRT)algorithm is proposed.Based on the traditional rapidly expanding random tree(RRT)algorithm,a warning mechanism is designed,which enables two random trees growing at the same time to perceive each other at all times and act as dynamic obstacles to avoid each other.The problems such as disordered collision,path crossing,and growth inhibition that may occur with each other are avoided,and a non-uniform B-spline curve is introduced to smooth the path to reduce the impact caused by the motion of the manipulator.The simulation results show that compared with the two applications of the RRT algorithm,the planning success rates of various environments are improved,especially under the condition of a 10 mm large step size,the search success rates of the four environments are increased by 10%,31%,65%,84%,and the average total path is reduced by 10.8%.In conclusion,the DP-RRT algorithm performs better than the traditional two-application RRT algorithm in terms of search success rate,computation time,and path quality.

关 键 词：双臂机器人 快速扩展随机树 双路径 DP-RRT 样条曲线 

分 类 号：TH165[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]