基于改进RRT算法与三维碰撞检测的冗余机械臂高效路径规划  

Efficient Path Planning for Redundant Manipulators Based onImproved RRT Algorithm and 3D Collision Detection

作　　者：张瑞雪 蒋序帆 尹旭悦 骆晓萌 韦乃琨[1,2,3] 祁超 ZHANG Ruixue;JIANG Xufan;YIN Xuyue;LUO Xiaomeng;WEI Naikun;QI Chao(Shanghai Shipbuilding Technology Research Institute,Shanghai 200032,China;National Engineering Research Center of Ship Intelligent Manufacturing,Shanghai 200032,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海船舶工艺研究所,上海200032 [2]船舶智能制造国家工程研究中心,上海200032 [3]上海交通大学机械与动力工程学院,上海200240

出　　处：《船舶标准化工程师》2025年第1期66-73,共8页Ship Standardization Engineer

基　　金：上海市协同创新专项资金(HCXBCY-2024-024)。

摘　　要：为了解决冗余机械臂在复杂环境中的路径规划和避障问题,提出一种基于改进快速扩展随机树(Rapidly Exploring Random Tree,RRT)算法与三维碰撞检测的高效路径规划方法。利用改进算法生成无碰撞的平滑路径,对机器人姿态进行求解,并通过碰撞检测验证路径的可行性。改进的RRT算法采用基于概率的控制机制来优化随机点生成策略,结合路径平滑算法减少路径节点,同时引入三维碰撞检测技术以确保路径的有效性和安全性。试验结果表明:该方法在二维和三维复杂场景中均能显著提升路径规划效率,成功率和路径平滑性明显优于传统算法。研究成果可为冗余机械臂在复杂环境中的路径规划提供高效、可靠的解决方案,有助于进一步提升其在实际应用中的稳定性和适用性。To address the path planning and obstacle avoidance challenges for redundant manipulators in complex environments,an efficient path planning method based on an improved rapidly exploring random tree(RRT)algorithm and 3D collision detection is proposed.First,the method generates a collision-free smooth path using the improved algorithm,then solves the robot's pose and verifies the feasibility of the path through collision detection.The improved RRT algorithm adopts a probability-based control mechanism to optimize the random point generation strategy,combined with a path smoothing algorithm to reduce path nodes.Additionally,3D collision detection is introduced to ensure the effectiveness and safety of the path.Experimental results demonstrate that this method significantly improves path planning efficiency,success rate,and path smoothness in both 2D and 3D complex scenarios,showing clear advantages over traditional algorithms.The findings provide an efficient and reliable solution for redundant manipulator path planning in complex environments,contributing to further enhancing its stability and applicability in practical applications.

关 键 词：冗余机械臂 路径规划 改进RRT算法 三维碰撞检测 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]