基于GB-APFB-RRT^(*)算法的机械臂路径规划  

Research on Path Planning of Robotic Arm Based on GB-APFB-RRT^(*)Algorithm

作　　者：尹庆文 YIN Qingwen(School of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500

出　　处：《组合机床与自动化加工技术》2023年第10期11-15,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：云南省重大科技项目(202202AG050002)。

摘　　要：针对传统机械臂路径规划快速扩展随机树(RRT)算法存在探索能力弱,导向性差,收敛速度慢,耗时长等问题,提出了一种基于人工势场引导的概率偏置双向最优RRT算法(GB-APFB-RRT^(*))。首先,起末点同时生成双树进行路径搜索,利用目标概率偏置阈值初步确定采样点扩展的方向,再重选父节点重布线,使每次迭代点都为路径代价最小;其次,在新节点的生长方式上引入人工势场思想,控制新节点的生长方式靠近目标点区域并且避开障碍物;最后,对规划路径进行剪枝处理,删除冗余点,利用三次B样条曲线进行路径平滑拟合,使得机械臂运动更加平稳。通过与RRT、B-RRT^(*)、APF-RRT算法进行了对比,结果表明所提算法的搜索效率平均提升了95%,迭代次数平均减少了98%,节点数平均缩小了32%,路径长度平均缩短了20%,说明了所提算法对环境的适应性更强,路径搜索效率更高,验证了该算法的有效性和高效性。Aiming at the problems of traditional rapid-exploring random tree(RRT)algorithm for path planning of manipulator,such as weak exploration ability,poor guidance,slow convergence and long time,a probabilistic bias bidirectional optimal RRT algorithm based on artificial potential field guidance(GB-APFB-RRT^(*))was proposed.Firstly,two trees are generated at the beginning and the end to search the path,and the direction of sampling point expansion is determined by using the target probability bias threshold,then the parent node is re-routed,so that every iteration is the optimal node of the path.Secondly,the idea of artificial potential field is introduced into the growth mode of new nodes to control the growth mode of the new node near the target area and avoid obstacles.Finally,the planned path was pruned to remove redundant points,and cubic B-spline curve was used to smooth path fitting,which made the manipulator move more smoothly.By comparing with RRT,B-RRT^(*)and APF-RRT algorithms,the results show that the search efficiency of the proposed algorithm is improved by 95%on average,the number of iterations is reduced by 98%on average,the number of nodes is reduced by 32%on average,and the path length is shortened by 20%on average,which indicates that the proposed algorithm has stronger adaptability to the environment and higher path search efficiency.The effectiveness and efficiency of the algorithm are verified.

关 键 词：机械臂 路径规划 RRT算法 冗余点策略 三次B样条曲线 

分 类 号：TH112[机械工程—机械设计及理论] TG65[金属学及工艺—金属切削加工及机床]