采用RSPM-PS算法的机械手末端避障路径规划  

Obstacle-Avoidance Path Planning of Manipulator End Using RSPM-PS Algorithm

作　　者：欧阳云 高振国 范丽玲 王继斌 蒋坤良 OUYANG Yun;GAO Zhenguo;FAN Liling;WANG Jibin;JIANG Kunliang(College of Computer Science and Technology,Huaqiao University,Xiamen 361021,China;Key Laboratory of Computer Vision and Machine Learning,Huaqiao University,Xiamen 361021,China)

机构地区：[1]华侨大学计算机科学与技术学院,福建厦门361021 [2]华侨大学计算机视觉与机器学习重点实验室,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2023年第3期290-300,共11页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(61972166);福建省高校产学合作项目(2021H6030);福建省高校重点实验室基金资助项目(201910)。

摘　　要：为解决工业机器人机械手末端避障路径规划需要花费大量时间,且规划的路径可能会包含大量冗余分段点的问题,提出一种基于分段点迁移递归(RSPM)和递进约简(PS)的机械手末端避障路径规划方法.通过RSPM算法可以在碰撞段上形成分段点并进行迁移,进而递归处理各分段路径,得到一条无碰撞基础路径.通过PS算法可以去除基础路径上的冗余分段点,得到最终路径.结果表明:RSPM-PS算法能快速规划更短的基础路径且能快速有效缩短路径长度.It takes a lot of time to solve the obstacle avoidance path planning of industrial robot manipulator end and the planning path may contain a large number of redundant segmentation points,an obstacle-avoidance path planning method of manipulator end based on recursive segmentation point migration(RSPM)and progressive simplification(PS)is proposed.Through the RSPM algorithm,the segmentation points on the collision segment can be formed and migrated,and then the segmentation paths are recursively processed to obtain a collision-free basic path.The redundant segmentation points on the basic path can be removed by the PS algorithm to obtain the final path.The results show that the RSPM-PS algorithm can quickly plan a shorter basic path,also can quickly and effectively shorten the path length.

关 键 词：工业机器人 避障路径规划 分段点迁移递归 递进约简 路径优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]