基于PRRT算法的电力运维机器人避障路径规划  

Obstacle Avoidance Path Planning of Electric Power Operation and MaintenanceRobot Based on PRRT Algorithm

作　　者：章立 姚杰 杨园园 高鼎峰 ZHANG Li;YAO Jie;YANG Yuanyuan;GAO Dingfeng(Changzhou Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Changzhou 213000,China;School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]国网江苏省电力有限公司常州供电分公司,江苏常州213000 [2]南京理工大学自动化学院,江苏南京210094

出　　处：《机械与电子》2024年第11期58-63,共6页Machinery & Electronics

基　　金：国家电网有限公司科技项目资助(J2023016)。

摘　　要：针对配网带电作业中六自由度机械臂避障路径规划问题,提出了一种基于分阶段快速随机搜索树(PRRT)的路径规划算法。第1阶段在笛卡尔空间采样求解最优路径;第2阶段在关节空间采样代替逆运动学求解,排除最优路径区域外的节点以提高规划速度;最后利用改进B样条插值算法优化路径。仿真结果显示,相较于单一空间下的RRT算法,PRRT算法得到的路径长度更短,规划时间更快。Aiming at the problem of obstacle avoidance path planning of 6-DOF manipulator in live working of distribution network,a path planning algorithm based on phased rapidly-exploring random tree(PRRT)is proposed.In the first stage,the optimal path is solved by sampling in Cartesian space;in the second stage,inverse kinematics solution is replaced by sampling in joint space,excluding nodes outside the optimal path area to improve the planning speed.Finally,B-spline interpolation algorithm is used to optimize the path.The simulation results show that compared with improved RRT algorithm in single space,the path length obtained by this algorithm is shorter and the planning time is faster.

关 键 词：电力运维机器人 六自由度机械臂 路径规划 分阶段快速随机搜索树(PRRT) 改进B样条插值算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]