基于改进PRM的机械臂避障路径规划  

Robotic Arm Motion Planning Based on an Improved PRM

作　　者：游达章[1,2] 赵恒毅 宋璐闻 You Dazhang;Zhao Hengyi;Song Luwen(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;Hubei Key Lab of Manufacture Quality Engineering,Wuhan 430068,China;Hubei 3611 Special Equipment Co.,Ltd.,Wuhan 430050,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]湖北省现代制造质量工程重点实验室,湖北武汉430068 [3]湖北三六一一应急装备有限公司,湖北武汉430050

出　　处：《机械传动》2024年第12期87-93,148,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51875180)。

摘　　要：为解决传统概率路线图法(Probabilistic Roadmap Method,PRM)效率低、路线冗余、路径平滑度不够等问题,针对机械臂避障路径规划提出了一种改进PRM。使用Sobol序列采样方法提高概率路线图的连通性,提升方法成功率;采用冗余节点剪枝与基于二分法插值的渐进路线修剪方法,使路径更加趋近最优解;最后,使用五次多项式插值方法对路径进行了平滑处理,使机械臂运动更加稳定平滑。仿真结果表明,改进的PRM提高了路径规划成功率,优化了路径,缩短了节点数与路径长度,且机械臂受力更加均匀平滑,证明该方法能有效合理地实现机械臂避障及路径规划。In order to solve the problems such as low efficiency,route redundancy and insufficient smoothness of the traditional probabilistic roadmap method(PRM),an improved PRM was proposed for obstacle avoidance path planning of manipulators.Sobol sequence sampling method was used to improve the connectivity of probabilistic road map and the success rate of the algorithm.Redundant node pruning and progressive route pruning based on dichotomous interpolation were adopted to make the path more approximate to the optimal solution.Finally,the path was smoothed by using the quintic polynomial interpolation method to make the motion of the manipulator more stable and smoother.The simulation results show that the improved PRM can improve the success rate of path planning,optimize the path,reduce the number of nodes and path length,and the manipulator is more uniform and smoother.The experiment proves that the method can effectively and reasonably realize the obstacle avoidance and path planning of the manipulator.

关 键 词：运动规划 概率路线图法 Sobol序列采样 路径优化 五次多项式插值 

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]