BIA-RRT——自适应障碍物机械臂路径规划  

BIA⁃RRT*:Adaptive obstacle robotic arm path planning

作　　者：马奔驰 章翔峰[1] 姜宏[1] 李伟达 李德基 杨晨 MA Benchi;ZHANG Xiangfeng;JIANG Hong;LI Weida;LI Deji;YANG Chen(Intelligent Manufacturing Modern Industrial College,Xinjiang University,Urumqi 830017,China)

机构地区：[1]新疆大学智能制造现代产业学院,新疆乌鲁木齐830017

出　　处：《现代电子技术》2025年第9期130-136,共7页Modern Electronics Technique

基　　金：2023年国家级大学生创新训练计划项目(202310755120)。

摘　　要：针对复杂障碍物环境的路径规划,文中提出一种BIA-RRT*算法,以解决在障碍物排布不均和非规则障碍环境下收敛时间与路径长度之间的平衡问题。首先,所提算法以空间中任意起点和终点作为椭球体焦点,标准椭球体根据焦点进行空间坐标变换,保证椭球体采样限制范围适应于空间任意位置起点和终点;然后,通过MBR包裹扩展树节点来估算从起点到终点的路径长度,路径长度受限于扩展树节点,启发式地使用该路径长度估算椭球体的主轴直径,直接在该子集中采样新节点,以优化估计路径;最后,通过对不规则障碍物点云进行采样并简化为球形,从而使机械臂能更好地避开障碍物。仿真结果表明所提算法平衡了收敛时间和路径长度,与传统RRT相比,搜索时间、路径长度分别减少了59.69%、36.89%,与RRT*相比,搜索时间、路径长度分别减少了72.51%、27.12%,与P_RRT*相比,搜索时间、路径长度分别减少了68.67%、19.47%。For path planning in the environments with complex obstacles,a BIA-RRT*algorithm is proposed to get the balance between convergence time and path length in the environments with unevenly-distributed obstacles and non-regular obstacles.In the algorithm,any starting point and end point in space are taken as the ellipsoid focus,and the standard ellipsoid is subjected to spatial coordinate transformation according to the focus,so as to ensure that the range of ellipsoid sampling restriction is adapted to the starting point and end point at any position in space.Then,the MBR(minimum bounding rectangle)is used to wrap around the extended tree nodes to estimate the path length from the starting point to the end point.The path length is limited by the extended tree nodes.Heuristically,the path length is used to estimate the main axis diameter of the ellipsoid.New nodes are sampled directly in this subset to optimize the estimated path.Finally,the point clouds of irregular obstacles are sampled and simplified to a sphere,so that the robotic arm can avoid the obstacles more appropriately.The simulation results demonstrate that the proposed algorithm BIA-RRT*can balance the convergence time and path length.The BIA-RRT*reduces the search time and path length by 59.69%and 36.89%,respectively,in comparison with the traditional RRT,by 72.51%and 27.12%,respectively,in comparison with the RRT*and by 68.67%and 19.47%,respectively,in comparison with the P_RRT*.

关 键 词：RRT* 路径规划 超椭球体 不规则障碍物 机械臂 点云 

分 类 号：TN919-34[电子电信—通信与信息系统] TH112[电子电信—信息与通信工程] TG659[机械工程—机械设计及理论]