基于改进A*算法和可操作度的移动机械臂运动规划研究  

Motion Planning for Mobile Manipulators Based on an Improved A*Algorithm and Manipulability

作　　者：曹毅[1] 朱柏宇 顾超 赵治华 郭银辉 Cao Yi;Zhu Boyu;Gu Chao;Zhao Zhihua;Guo Yinhui(School of Mechanical and Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南工业大学机电工程学院,河南郑州450001

出　　处：《机械传动》2024年第11期55-62,共8页Journal of Mechanical Transmission

基　　金：河南省国际科技合作重点项目计划(232102520002);河南省重点研发专项(221111220300);河南省创新科技人员队伍建设项目(114100510015)。

摘　　要：针对移动机械臂在室内环境下规划时间长、取放运动可操作性差等问题,提出了改进常规A*算法,以机械臂可操作度值作为评价标准,确定最佳停靠位置并进行系统运动规划的方法。首先,在常规A*算法的基础上,将8个搜索方向简化为5个,以提高搜索效率;同时,设计了一种新的启发式搜索函数,将Floyd算法引入到A*算法中,增加路径的平滑度。仿真结果显示,改进后的A*算法相比常规A*算法运行时间缩短59.1%,路径长度减少3.5%,搜索节点数减少41.6%。其次,根据机械臂的可达工作空间与雅可比矩阵,评估移动机械臂在待取放目标物体附近不同位置下的可操作度值,优化停靠位置,从而提高取放运动的可操作性。最后,采用由DIY机械臂和Turtlebot2移动机器人组成的移动机械臂系统,在室内环境中完成了运动规划综合实验,验证了所提方法的有效性和可靠性。To address the problems of long planning time and poor operability of pick-and-place(PAP)movement of a mobile manipulator in an indoor environment,an enhanced regular A*algorithm was proposed to determine the optimal docking position and perform system motion planning,using manipulator operability as the evaluation criterion.Firstly,on the basis of conventional A*algorithm,eight search directions were simplified to five to improve the search efficiency.At the same time,a new heuristic search function was designed,and Floyd algorithm was introduced into the A*algorithm to increase the smoothness of the path.The simulation results show that the running time of the improved A*algorithm is shortened by 59.1%,the path length was reduced by 3.5%,and the number of search nodes is reduced by 41.6%.Secondly,according to the reachable workspace and Jacobian matrix of the manipulator,the maneuverability of the mobile manipulator in different positions near the target object to be PAP was evaluated,and the docking position was optimized to improve the maneuverability of the PAP movement.Finally,a mobile manipulator system consisting of a DIY six-degree-offreedom(DOF)manipulator and Turtlebot2 mobile platform was employed to conduct comprehensive motion planning experiments in indoor environment,which verifies the effectiveness and reliability of the proposed method.

关 键 词：移动机械臂 改进A*算法 最佳停靠位置 机械臂可操作度 避障运动规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]