首页|基于改进RRT的直捻机上纱机械臂路径规划

基于改进RRT的直捻机上纱机械臂路径规划

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为了提高直捻机上纱机械臂的避障路径规划效率,提出一种动态目标圆采样结合回归机制的改进型双向快速扩展随机树算法(Dynamic-target-circle Sampling and Regression mechanism Bidirectional Rapidly-exploring Random Trees,DSRB-RRT).为解决随机树盲目采样问题,提出了一种动态目标圆采样法,引导随机树在以目标为圆心的动态圆区域内进行采样;为解决随机树拓展速度慢,提出了一种变步长变概率法,根据障碍物信息自行改变拓展步长和偏置概率,加快随机树收敛;引入了回归机制防止随机树在区域内过度采样;算法生成路径后,裁剪路径中冗余节点来缩短路径长度,并用三次B样条曲线平滑优化路径.仿真结果表明,DSRB-RRT算法相比于加入目标偏置的RRT、BI-RRT和GS-RRT在不同障碍场景下的收敛效率更高,平均路径更短.在ROS系统中对上纱机械臂进行仿真,验证了DSRB-RRT算法的有效性,可以提高机械臂路径规划效率.
Path Planning of Yarn-loading Manipulator in Direct Twisting Machine Based on Improved RRT Algorithm
To improve the obstacle avoidance path planning efficiency of the yarn-loading manipulator in the direct twisting machine,an improved bidirectional rapidly-exploring random tree algorithm(BI-RRT)introducing the dynamic target circle sampling and regression mechanism(DSRB-RRT)is proposed.A dynamic target circle sampling method is proposed to guide the random tree to sample in the dynamic circular area with the target as the center of the circle.An adaptive stepsize and variable probability method which changes the expansion step size and bias probability according to the obstacle information is used to speed up the convergence of the random tree.A re-gression mechanism is introduced to prevent region oversampling.Redundant nodes of the original path are trimmed to shorten the path length,and the optimized path is smoothed with cubic B-spline curves.The simulation results show that the DSRB-RRT algorithm has higher convergence efficiency and shorter average path than adding goal-biased RRT,BI-RRT,and GS-RRT in different obstacle scenarios.The simulation experiment of the yarn-loading manipula-tor in the ROS system verifies the effectiveness of the DSRB-RRT algorithm,which can improve the path planning ef-ficiency of the manipulator.

Direct twisting machine yarn-loadingManipulatorPath planningBidirectional rapidly-exploring random tree algorithm

徐巧、杨涛、梅顺齐、潘松

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武汉纺织大学机械工程与自动化学院,湖北 武汉 430200

湖北省数字纺织装备重点实验室,湖北 武汉 430200

宜昌经纬纺机有限公司,湖北 宜昌 443001

直捻机上纱 机械臂 路径规划 双向快速扩展随机树

国家自然科学基金国家自然科学基金国家自然科学基金湖北省纺织数字化装备重点实验室项目纺织新材料与先进加工技术国家重点实验室项目

515415035077516551775389KDTL2020006FZ2020008

2024

计算机仿真
中国航天科工集团公司第十七研究所

计算机仿真

CSTPCD
影响因子：0.518
ISSN：1006-9348
年,卷(期)：2024.41(3)
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