Path Planning of Multi-Axis Robotic Arm Based on Improved RRT*  

作　　者：Juanling Liang Wenguang Luo Yongxin Qin 

机构地区：[1]School of Automation,Guangxi University of Science and Technology,Liuzhou,545006,China [2]Key Laboratory of AI and Information Processing of Education Department of Guangxi,Hechi University,Hechi,546300,China

出　　处：《Computers, Materials & Continua》2024年第10期1009-1027,共19页计算机、材料和连续体（英文）

基　　金：supported by Foundation of key Laboratory of AI and Information Processing of Education Department of Guangxi(No.2022GXZDSY002);(Hechi University),Foundation of Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Nos.2022GKLACVTKF04,2023GKLACVTZZ06)。

摘　　要：An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.

关 键 词：Multi-axis robotic arm path planning improved RRT∗algorithm dynamic target deviation threshold dynamic step size path optimization 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]