基于改进RRT^(*)算法的测量机械臂路径规划  

Research on Path Planning of Robot Manipulator for Measurement Based on Improved RRT

作　　者：刘洋[1] 孙芮 罗捷[1] 刘顺[1] LIU Yang;SUN Rui;LUO Jie;LIU Shun(Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学,上海200240

出　　处：《机械设计与研究》2024年第5期261-266,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(52205487);上海交通大学“新进青年教师启动计划”资助。

摘　　要：针对传统RRT^(*)算法在三维复杂场景中的采样随机性高、规划效率低、路径曲折易产生震荡等问题,提出了融合Sobol序列采样策略、人工势场方法以及路径优化处理策略的改进RRT^(*)算法。通过提出基于低差异的Sobol序列采样策略,改善了随机采样策略的重复采样的缺点;在扩展树生长过程中,提出融合人工势场的方法引导新节点产生,提高路径搜索能力,加快收敛速度;在路径优化阶段,针对路径的冗余节点问题,提出双向剔除策略,有效缩短路径长度,并基于五次B样条曲线对路径进行平滑处理,增强机械臂运行的平顺性。通过对不同算法的仿真对比,表明改进RRT^(*)算法搜索路径时长和路径长度均得到优化,采样点数更少,节点利用率更高,且路径更加平滑性,验证了算法的有效性。最后以工业机器人为原型开展实验分析,验证了所提算法能够有效地使得机械臂避开障碍并平稳运行到目标点。In response to the problems of high sampling randomness,low planning efficiency,high time consumption and proneness to oscillations in traditional RRT^(*)in three-dimensional complex scenes,this paper proposes an improved RRT^(*)that integrates multiple strategies.A Sobol sequence sampling strategy based on low difference is proposed,which improves the drawbacks of repeated sampling in random sampling strategies.In the process of expanding tree growth,a method of integrating artificial potential fields is proposed to guide the generation of new nodes,improve path search ability and accelerate convergence speed.In the path optimization stage,a bidirectional elimination strategy is proposed to address the problem of redundant nodes in the path,effectively shortening the path length.The path is smoothed based on a quintic B-spline curve to enhance the smoothness of the manipulator.By comparing the simulation results of different algorithms in three-dimensional space,it is shown that the improved RRT^(*)optimizes both the search path duration and path length,with fewer sampling points,higher node utilization and smoother paths,proving the effectiveness of the algorithm.Finally,experimental analysis is conducted on an industrial robot,verifying that the algorithm can effectively avoid obstacles and smoothly run the manipulator to the target point.

关 键 词：路径规划 RRT^(*)算法 低差异序列 人工势场法 机械臂 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]