基于改进RRT算法的机械臂避障路径规划研究  

Research on Obstacle Avoidance Path Planning for Robotic Arms Based on Improved RRT Algorithm

作　　者：郭北涛[1] 任天浩 GUO Beitao;REN Tianhao(School of Mechanical and Power Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China)

机构地区：[1]沈阳化工大学机械与动力工程学院,沈阳110142

出　　处：《机械工程师》2025年第3期19-22,26,共5页Mechanical Engineer

基　　金：沈阳市科技计划项目(F16-228-6-00)。

摘　　要：针对RRT算法在应用于机械臂避障路径规划过程中,存在规划速度慢、冗余节点多、路径拐点多、路径不平滑等问题,提出一种基于目标偏置和双向快速扩展随机树并融合A*算法的改进RRT算法。由于双向RRT算法的两棵随机树是在同一时间向外扩展,所以在一次迭代中可以产生两个新的节点,大大加快了扩展速度。在此基础上,提出一种目标偏置的方法,使得两棵随机树在一定概率下朝向其所对应目标点扩展,最后使用A*算法选取该避障路径上的关键节点。具体思路为:一是改进现有的碰撞检测模型,对障碍物进行合理的简化;二是利用改进后的RRT算法规划出可行的避障路线。最后与B样条曲线相结合,使运动图像更加平滑。实验结果表明,改进后算法规划时间、路径长度和路径平滑度均得到了有效提升。In response to the problems of slow planning speed,multiple redundant nodes,multiple inflection points,and unsmooth paths in the application of RRT algorithm in obstacle avoidance path planning of robotic arms,an improved RRT algorithm is proposed based on target bias and bidirectional fast expansion random tree,combined with A*algorithm.Due to the fact that the two random trees of the bidirectional RRT algorithm expand outward at the same time,two new nodes can be generated in one iteration,greatly accelerating the expansion speed.On this basis,a target bias method is proposed,which allows two random trees to expand towards their corresponding target points with a certain probability.Finally,the A*algorithm is used to select the key nodes on the obstacle avoidance path.The specific idea is to improve the existing collision detection model and simplify obstacles reasonably.The second is to use the improved RRT algorithm to plan feasible obstacle avoidance routes.Finally,it is combined with B-spline curves to make the moving image smoother.The experimental results show that the improved algorithm effectively improves planning time,path length,and path smoothness.

关 键 词：RRT 机械臂 路径规划 避障规划 B样条曲线 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]