一种基于RRT算法的水冷壁爬壁机器人路径规划  

Path planning method for water wall climbing robot based on RRT algorithm

作　　者：薛晓斌 曹一峰 吴杰 黄贤明 XUE Xiaobin;CAO Yifeng;WU Jie;HUANG Xianming(Jiangsu Changshu Power Generation Co.,Ltd.,Suzhou 215500,China;Changshu Institute of Technology,Suzhou 215500,China)

机构地区：[1]江苏常熟发电有限公司,江苏苏州215500 [2]常熟理工学院,江苏苏州215500

出　　处：《无线互联科技》2025年第3期35-38,共4页Wireless Internet Science and Technology

摘　　要：针对水冷壁爬壁机器人在多变地形上的作业需求以及在垂直表面上的连续移动特性,文章提出了一种基于RRT算法的路径规划策略。该策略采用栅格化方法对机器人的作业环境进行建模,利用RRT算法的搜索速度快以及建立随机树的特性,通过在空间中任意选取点,将其与树相结合,构建通往目标的路径。RRT算法具有对复杂环境、动态障碍的适应性,可为复杂壁面上的爬壁机器人的运动轨迹规划提供依据。实验数据表明,采用RRT算法的水冷壁爬壁机器人能够高效地完成水冷壁表面的路径规划问题。The proposed path planning strategy for a water-cooled wall-climbing robot,which aims to meet the operational requirements on variable terrains and continuous movement characteristics on vertical surfaces,is based on the RRT algorithm.This strategy utilizes rasterization method to model the robot’s working environment and leverages the fast search speed of the RRT algorithm along with its ability to establish a random tree.By combining any selected point in space with this tree,a path towards the goal can be constructed.The adaptability of the RRT algorithm to complex environments and dynamic obstacles makes it suitable for trajectory planning of wall-climbing robots on intricate surfaces.Experimental data demonstrates that utilizing the RRT algorithm enables efficient completion of path planning tasks for water wall climbing robots.

关 键 词：水冷壁爬壁机器人 RRT算法 动态路径规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]