自主作业破碎锤多目标运动路径规划研究  

Research on Path Planning for Intelligent Hydraulic Breaker

作　　者：罗映[1] 尹彬 苗俊先 唐敬玲 祝成东 LUO Ying;YIN Bin;MIAO Jun-xian;TANG Jing-ling;ZHU Cheng-dong(Shandong Jianzhu University,Ji'nan 250101,China;Strong Construction Machinery Co.,Ltd.,Linyi 276024,China)

机构地区：[1]山东建筑大学,济南250101 [2]山重建机有限公司,临沂276024

出　　处：《价值工程》2023年第18期105-107,共3页Value Engineering

基　　金：2022年度省重点扶持区域引进急需紧缺人才项目“工程机械智能网联控制平台研究及产业化”。

摘　　要：以工程用破碎锤为研究对象,基于运动学分析,在ROS平台中搭建虚拟仿真环境,建立破碎机械臂模型。采用RRT和RRT*算法,分别在无障碍物环境和有障碍物环境下,对破碎机械臂进行重复运动规划仿真。结果表明:RRT算法路径规划用时少,但规划路径合理性和成功率都低于RRT*算法,且存在盲目搜索的问题。相比之下,RRT*算法可以随规划次数增加对路径进行优化,获得更平顺、更合理的破碎锤运动规划结果。The research object is hydraulic breaker which is widely employed in engineering.Kinematics analysis for the hydraulic breaker arm was performed,the virtual simulation environment was built in the ROS platform,and a three-dimensional analysis model of the breaker arm was established.RRT and RRT*algorithms were used to simulate the motion planning of the breaker in environment with/without obstacles,respectively.The results show that RRT algorithm had less calculating time.However,the rationality and reliability of the planned path from RRT algorithm was lower than that from RRT*algorithm.Meanwhile,RRT algorithm tended to search blindly in some cases.In contrast,RRT*algorithm could gradually optimize the path with more planning times and thus obtain more smooth and reasonable motion planning result.

关 键 词：机器人操作系统 破碎锤机械臂 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]