融合人工势场和RRT算法的水下机械臂自适应路径规划  

Adaptive path planning of underwater robotic arm based on artificial potential field and RRT algorithm

作　　者：洪道玉 陈巍 陈国军 杨雪 郭铁铮 HONG Daoyu;CHEN Wei;CHEN Guojun;YANG Xue;GUO Tiezheng(Industrial Center,Nanjing Institute of Technology,Nanjing 211167,Jiangsu,China)

机构地区：[1]南京工程学院工业中心,江苏南京211167

出　　处：《农业装备与车辆工程》2024年第8期99-103,共5页Agricultural Equipment & Vehicle Engineering

基　　金：江苏省农业科技自主创新资金项目(CX(21)1007);南京工程学院高等教育研究课题(2023GJYB22);江苏省研究生科研与实践创新计划“核电站三级循环水池清洗机器人控制系统设计与研究”(SJCX23-1166)。

摘　　要：针对RRT算法应用于复杂水下环境下机械臂三维空间动态避障运动规划过程中存在的规划效率低、内存消耗大、动态规避响应性差等问题,提出一种利用人工势场引导启发式动态约束采样的改进RRT算法。针对动态环境采用全局规划结合局部重新规划的方法以提高算法的实时性。仿真结果表明,所提算法在规划过程中收敛速度更快、规划路径平滑,机械臂作用角速度较平缓,对水下无规律动态障碍物规避效果较好。Aiming at the problems such as low planning efficiency,large memory consumption and poor dynamic avoidance response of RRT algorithm when applied to 3D dynamic obstacle avoidance motion planning of robot arm in complex underwater environment,an improved RRT algorithm based on heuristic dynamic constraint sampling guided by artificial potential field was proposed.The method of global planning combined with local re-planning was used to improve the real-time performance of the algorithm in dynamic environment.The simulation results showed that the proposed algorithm had a faster convergence speed,a smooth planning path,a slower angular velocity of the manipulator,and a better effect on the avoidance of underwater irregular dynamic obstacles.

关 键 词：动态路径规划 间接目标点法 快速探索随机树 人工势场 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]