融合人工势场和RRT算法的水下机械臂自适应路径规划
Adaptive path planning of underwater robotic arm based on artificial potential field and RRT algorithm
洪道玉 1陈巍 1陈国军 1杨雪 1郭铁铮1
作者信息
- 1. 南京工程学院工业中心,江苏 南京 211167
- 折叠
摘要
针对RRT算法应用于复杂水下环境下机械臂三维空间动态避障运动规划过程中存在的规划效率低、内存消耗大、动态规避响应性差等问题,提出一种利用人工势场引导启发式动态约束采样的改进RRT算法.针对动态环境采用全局规划结合局部重新规划的方法以提高算法的实时性.仿真结果表明,所提算法在规划过程中收敛速度更快、规划路径平滑,机械臂作用角速度较平缓,对水下无规律动态障碍物规避效果较好.
Abstract
Aiming at the problems such as low planning efficiency,large memory consumption and poor dynamic avoidance response of RRT algorithm when applied to 3D dynamic obstacle avoidance motion planning of robot arm in complex underwater environment,an improved RRT algorithm based on heuristic dynamic constraint sampling guided by artificial potential field was proposed.The method of global planning combined with local re-planning was used to improve the real-time performance of the algorithm in dynamic environment.The simulation results showed that the proposed algorithm had a faster convergence speed,a smooth planning path,a slower angular velocity of the manipulator,and a better effect on the avoidance of underwater irregular dynamic obstacles.
关键词
动态路径规划/间接目标点法/快速探索随机树/人工势场Key words
dynamic path planning/indirect target point method/quickly explore random trees/artificial potential field引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据