融合贪心算法和改进RRT的机械臂避障路径规划
Obstacle Avoidance Path Planning of Manipulator Based on Greedy Algorithm and Improved RRT
张灿 1马志艳 1程源 1杨光友1
作者信息
- 1. 湖北工业大学 农机工程设计研究院,武汉 430086;湖北省农机装备智能化工程技术研究中心,武汉 430086
- 折叠
摘要
为了解决串联机器人避障运动规划的难题,提出一种快速的碰撞检测方法.该算法基于RRT算法,并对其路径生成做出改进,采用双向生成路径提高效率,减少冗余路径生成;引入贪心算法减少机器人移动路径的长度.通过Matlab进行仿真实验验证,结果表明:该算法能够高效规划机器人的无碰路径,大幅减少中间节点的个数,减少了机器人运动路径长度,验证了算法的可行性.
Abstract
In order to solve the problem of obstacle avoidance motion planning of serial robots,a fast collision detection method is proposed.The algorithm is based on the RRT algorithm,and its path generation is improved.The bidirectional generation path is used to improve the efficiency,and the greedy algorithm is introduced to reduce the length of the robot's moving path.The simulation experiment is carried out by Matlab.The results show that the algorithm can efficiently plan the collision-free path of the robot,significantly reduce the number of intermediate nodes,reduce the length of the robot motion path and verify the feasibility of the algorithm.
关键词
串联机器人/避障规划/RRT算法/贪心算法Key words
serial robot/obstacle avoidance planning/RRT algorithm/greedy algorithm引用本文复制引用
基金项目
国家重点研发计划子课题(2018YFD0701002-03)
湖北省重点研发计划项目(2020BBA042)
湖北工业大学博士科研启动基金(XJ2022006601)
出版年
2024
NETL
NSTL
万方数据