基于改进RRT^(*)算法的机械臂路径规划研究  

Research on Path Planning of Manipulator Based on Improved RRT^(*)Algorithm

作　　者：刘学深 曹立佳 LIU Xueshena;CAO Lijia(School of Automation and Information Engineering,Sichuan University of Science&Engineering,Yibin 644000,China;School of Computer Science and Engineering,Sichuan University of Science&Engineering,Yibin 644000,China;Key Laboratory of Higher Education of Sichuan Province for Enterprise Informationalization and Internet of Things,Yibin 644000,China)

机构地区：[1]四川轻化工大学自动化与信息工程学院,四川宜宾644000 [2]四川轻化工大学计算机科学与工程学院,四川宜宾644000 [3]企业信息化与物联网测控技术四川省高等学校重点实验室,四川宜宾644000

出　　处：《四川轻化工大学学报（自然科学版）》2024年第1期61-70,共10页Journal of Sichuan University of Science & Engineering(Natural Science Edition)

基　　金：四川省科技创新苗子工程项目(MZGC20230084);中国高校产学研创新基金项目(2021ZYA11002);四川轻化工大学研究生创新基金项目(y2021088)。

摘　　要：RRT(Rapidly exploring Random Tree)是一种基于采样的路径规划算法,非常适用于机器人的路径规划中,但是传统RRT^(*)算法存在耗时长、占用内存较大等缺点。所以针对这些问题提出一种改进RRT^(*)算法,该算法优化了父节点选取范围,在传统随机采样机制的基础上引入了目标偏置采样和启发式策略,减少了算法耗时且缩短了路径长度;引入了节点拒绝策略,消除转弯角太大的冗余路径的同时也进一步提升了算法效率。利用MATLAB进行了仿真实验验证,结果表明改进RRT^(*)算法能在更短的时间内搜索到一条从起点到终点的最短无碰路径,并且可以很好地应用于机械臂的路径规划中。RRT(Rapidly expanding Random Tree)algorithm is a sampling-based path planning algorithm,which is quite suitable for robot path planning.However,the traditional RRT^(*)algorithm has the disadvantages of long time consumption and high memory consuption utilization.Therefore,an improved RRT^(*)algorithm is proposed to solve these problems,whose selection range of the parent nodes are optimized,and target biased sampling and heuristic strategy is introduced on the basis of the traditional random sampling mechanism,which reduces the time consumption of the algorithm and shortens the path length;the node rejection strategy is introduced to eliminate redundant paths with too large turning angles and further improve the algorithm efficiency.Matlab is used to carry out simulation experiments,and the results show that the improved RRT^(*)algorithm can search the shortest collision free path from the starting point to the end point in a shorter time,and can be well applied to the path planning of the manipulator.

关 键 词：路径规划 改进RRT^(*) 目标偏置采样 启发式策略 节点拒绝策略 机械臂 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]