Path planning method of bidirectional extended manipulator under posture constraints
Aiming at the problems of low planning efficiency,poor passing ability of link and the rough path in the path planning method of manipulator,based on the Rapidly-exploring Random Tree*(RRT*),a Bidirectional ex-tended path planning of manipulator method under Posture Constraint and path Optimization named PCO-BT-RRT*was proposed.The Bidirectional extended RRT*(BT-RRT*)algorithm guided by target bias was designed,and the initialization process of the RRT*algorithm was improved.By taking the starting node and the target node as the initial nodes of the two random trees respectively,to improve the path generation speed while ensuring low path costs,the random trees were guided to grow in opposite directions with a certain probability through the target bias strategy,accelerating the exploration of unknown areas.A Posture Constraint and path Optimization strategy(PCO)was proposed,which used the kinematics model and collision detection rules of the manipulator to jointly constrain the expansion process of the new node,to find the obstacle avoidance path in the reachable space of the manipulator.The generated path was pruned by eliminating redundant nodes and shortening the length of feasible path,then by iteratively adjusting the position of path nodes to ensure the smooth path and improve the quality of path generation.The simulation results showed the significant effectiveness of the proposed method in path planning problems.The practicability of this method was verified by the real machine experiment on the self-developed BIM information fusion building masonry system.
path planning of manipulatorrapidly-exploring random tree* algorithmbidirectional extendedposture constraintspath smoothing