一种IPRRT的机械臂三维路径避障算法  

An Improved Rapidly-exploring Random Tree Algorithm for Manipulator's 3D Path Obstacle Avoidance

作　　者：钟华庚 丁健 郭永欢 罗高生 王芳[1,2] 冯玮[3] ZHONG Huageng;DING Jian;GUO Yonghuan;LUO Gaosheng;WANG Fang;FENG Wei(Shanghai Engineering Research Center of Marine Renewable Energy,College of Engineering Science and Technology,Shanghai Ocean University,Shanghai 201306,China;Shanghai Engineering Research Center of Hadal Science and Technology,College of Marine Sciences,Shanghai Ocean University,Shanghai 201306,China;CIMC Offshore Engineering Co.,Ltd.,Shenzhen 518052,Guangdong,China)

机构地区：[1]上海海洋大学工程学院上海海洋可再生能源工程技术研究中心,上海201306 [2]上海海洋大学海洋科学学院上海深渊科学工程技术研究中心,上海201306 [3]中集海洋工程有限公司,广东深圳518052

出　　处：《机械科学与技术》2023年第12期2021-2029,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金面上项目(52071203);上海市科技攻关计划项目(20dz1206500);上海市科委自然科学基金面上项目(19ZR1422700);上海市工程技术研究中心建设计划(19DZ2254800)。

摘　　要：标准RRT(Rapidly exploring random tree)算法进行路径规划时,存在规划时间长、规划路径质量差的问题。针对以上问题,提出一种IPRRT算法(Improved RRT algorithm),首先通过重选父节点环节策略剔除冗余路段,区域排斥机制剔除冗余节点,缩短规划路径与规划时间;其次采用线段转角限位与评估函数提升路径质量,最后采用三次Hermite曲线对路径进行平滑处理;通过对深海机械臂进行仿真实验,验证了IPRRT算法的有效性。The standard rapidly-exploring random tree algorithm for path planning takes a long time and has poor path quality.Therefore,an improved rapidly-exploring random tree algorithm is proposed.Firstly,redundant sections are eliminated by using the re-selecting parent node link strategy,and redundant nodes are eliminated with the regional exclusion mechanism to shorten the planning path and time.Secondly,the line segment angle limit and the evaluation function are used to improve the path quality.Finally,the cubic Hermite curve is used to smooth the path.The simulation of a deep-sea manipulator verifies the effectiveness of the improved rapidly-exploring random tree algorithm.

关 键 词：RRT 机械臂 路径规划 三次Hermite曲线 ROS系统 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]