基于改进RRT算法的机械臂避障路径规划  

Obstacle-Avoidance Path Planning of Manipulator based on Improved RRT Algorithm

作　　者：陈大光 刘兴德[2] 贾永涛 钱程 CHEN Daguang;LIU Xingde;JIA Yongtao;QIAN Cheng(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;School of Mechanical and Electrical Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;Chemical Fertilizer Plant,Petrochina Jilin Petrochemical Company,Jilin City 132021,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]吉林化工学院机电工程学院,吉林吉林132022 [3]中国石油吉林石化公司化肥厂,吉林吉林132021

出　　处：《吉林化工学院学报》2023年第5期20-25,共6页Journal of Jilin Institute of Chemical Technology

基　　金：吉林省科技厅项目(20190302080GX);吉林市科学技术局项目(201750209)。

摘　　要：基本的RRT算法(快速扩展随机树)具有随机性、缺乏方向性、生成路径时间长,运行效率低等不足,在此基础上提出了一种基于改进RRT路径规划的算法。首先在随机采样扩展时加入目标偏置策略,使随机树的生长方向朝着目标点趋向,增强了采样的目标导向性;然后采用节点拒绝策略和可变步长策略,增强了算法的收敛速度和机械臂的避障效果;最后通过使用贪心算法删除一些冗余节点,简化避障路径,并采用三次B样条曲线对生成的路径进行平滑性处理,进一步优化路径长度。将改进后的RRT算法同标准RRT算法、RRT-Connect算法在不同环境地图下进行仿真实验,对比得到的实验结果,表明了改进后的RRT算法在规划时间、节点数、路径长度等方面都得到了提升,验证了改进方案可行性与优越性。The basic fast random number(RRT)algorithm has some shortcomings,such as randomness,lack of directionality,long path generation time and low efficiency.On this basis,an algorithm based on improved RRT path planning was proposed.Firstly,the target bias strategy was added to the random sampling expansion,so that the growth direction of the random tree tends to the target point,and the target orientation of the sampling was enhanced;Then the node rejection strategy and variable step size strategy were adopted to enhance the convergence speed of the algorithm and the obstacle avoidance effect of the manipulator;Finally,on the basis of improving the convergence conditions,the greedy algorithm was used to remove some redundant nodes,simplify the obstacle avoidance path,and the cubic B-spline curve was used to smooth the generated path,further optimize the path length,and make the generated final path smoother.The improved RRT algorithm,the standard RRT algorithm and the RRT-Connect algorithm were simulated in different environment maps.The comparison of the experimental results showed that the improved RRT algorithm has been improved in planning time,node number,path length and other aspects,and verifies the feasibility and superiority of the improved scheme.

关 键 词：RRT算法 路径规划 目标偏置 可变步长 三次B样条曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]