基于改进RRT的直捻机上纱机械臂路径规划  

Path Planning of Yarn-loading Manipulator in Direct Twisting Machine Based on Improved RRT Algorithm

作　　者：徐巧 杨涛 梅顺齐 潘松 XU Qiao;YANG Tao;MEI Shun-qil;PAN Song(College of Mechanical Engineering&Automation,Wuhan Textile University,Wuhan Hubei 430200,China;Hubei Digital Textile Equipment Key Laboratory,Wuhan Hubei 430200,China;YiChang JingWei Textile Machinery Co.Ltd.,Yichang Hubei 443001,China)

机构地区：[1]武汉纺织大学机械工程与自动化学院,湖北武汉430200 [2]湖北省数字纺织装备重点实验室,湖北武汉430200 [3]宜昌经纬纺机有限公司,湖北宜昌443001

出　　处：《计算机仿真》2024年第3期458-464,共7页Computer Simulation

基　　金：国家自然科学基金(51541503,50775165,51775389);湖北省纺织数字化装备重点实验室(KDTL2020006);纺织新材料与先进加工技术国家重点实验室(FZ2020008)。

摘　　要：为了提高直捻机上纱机械臂的避障路径规划效率,提出一种动态目标圆采样结合回归机制的改进型双向快速扩展随机树算法(Dynamic-target-circle Sampling and Regression mechanism Bidirectional Rapidly-exploring Random Trees,DSRB-RRT)。为解决随机树盲目采样问题,提出了一种动态目标圆采样法,引导随机树在以目标为圆心的动态圆区域内进行采样;为解决随机树拓展速度慢,提出了一种变步长变概率法,根据障碍物信息自行改变拓展步长和偏置概率,加快随机树收敛;引入了回归机制防止随机树在区域内过度采样;算法生成路径后,裁剪路径中冗余节点来缩短路径长度,并用三次B样条曲线平滑优化路径。仿真结果表明,DSRB-RRT算法相比于加入目标偏置的RRT、BI-RRT和GS-RRT在不同障碍场景下的收敛效率更高,平均路径更短。在ROS系统中对上纱机械臂进行仿真,验证了DSRB-RRT算法的有效性,可以提高机械臂路径规划效率。To improve the obstacle avoidance path planning efficiency of the yarn-loading manipulator in the direct twisting machine,an improved bidirectional rapidly-exploring random tree algorithm(BI-RRT)introducing the dynamic target circle sampling and regression mechanism(DSRB-RRT)is proposed.A dynamic target circle sampling method is proposed to guide the random tree to sample in the dynamic circular area with the target as the center of the circle.An adaptive stepsize and variable probability method which changes the expansion step size and bias probability according to the obstacle information is used to speed up the convergence of the random tree.A regression mechanism is introduced to prevent region oversampling.Redundant nodes of the original path are trimmed to shorten the path length,and the optimized path is smoothed with cubic B-spline curves.The simulation results show that the DSRB-RRT algorithm has higher convergence efficiency and shorter average path than adding goal-biased RRT,BI-RRT,and GS-RRT in different obstacle scenarios.The simulation experiment of the yarn-loading manipulator in the ROS system verifies the effectiveness of the DSRB-RRT algorithm,which can improve the path planning efficiency of the manipulator.

关 键 词：直捻机上纱 机械臂 路径规划 双向快速扩展随机树 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]