融合贪心算法和改进RRT的机械臂避障路径规划  

Obstacle Avoidance Path Planning of Manipulator Based on Greedy Algorithm and Improved RRT

作　　者：张灿 马志艳[1,2] 程源 杨光友 ZHANG Can;MA Zhiyan;CHENG Yuan;YANG Guangyou(Agricultural Machinery Engineering Design and Research Institute,Hubei University of Technology,Wuhan 430086,China;Intelligentization of agricultural machinery equipment in Hubei Province Engineering Technology Research Center,Wuhan 430086,China)

机构地区：[1]湖北工业大学农机工程设计研究院,武汉430086 [2]湖北省农机装备智能化工程技术研究中心,武汉430086

出　　处：《机械设计与研究》2024年第3期92-96,共5页Machine Design And Research

基　　金：国家重点研发计划子课题(2018YFD0701002-03);湖北省重点研发计划项目(2020BBA042);湖北工业大学博士科研启动基金(XJ2022006601)。

摘　　要：为了解决串联机器人避障运动规划的难题,提出一种快速的碰撞检测方法。该算法基于RRT算法,并对其路径生成做出改进,采用双向生成路径提高效率,减少冗余路径生成;引入贪心算法减少机器人移动路径的长度。通过Matlab进行仿真实验验证,结果表明:该算法能够高效规划机器人的无碰路径,大幅减少中间节点的个数,减少了机器人运动路径长度,验证了算法的可行性。In order to solve the problem of obstacle avoidance motion planning of serial robots,a fast collision detection method is proposed.The algorithm is based on the RRT algorithm,and its path generation is improved.The bidirectional generation path is used to improve the efficiency,and the greedy algorithm is introduced to reduce the length of the robot's moving path.The simulation experiment is carried out by Matlab.The results show that the algorithm can efficiently plan the collision-free path of the robot,significantly reduce the number of intermediate nodes,reduce the length of the robot motion path and verify the feasibility of the algorithm.

关 键 词：串联机器人 避障规划 RRT算法 贪心算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]