火力与指挥控制2016，Vol.41Issue(5)：25-30,6.
基于改进快速扩展随机树的机械臂路径规划
Path Planning of Manipulators Based on Improved Rapidly-Exploring Random Tree
摘要
Abstract
A certain improved rapidly-exploring random tree is proposed to solving the path planning problem of EOD manipulators. The improved RRT combines advantages of biased strategy and greedy strategy. By selecting goal node with some probability when sampling,improved RRT reduces the blindness of RRT. Greedy strategy is used for extending trees in the direction of goal node to enhance the extending rapid. The results by RRT are not optimal,an improved GPP technique is developed to prune the redundant nodes of planned paths,optimize the motion path of manipulators. By comparing the numerical simulation results of Biased-RRT and Greedy-RRT,the high efficiency of improved RRT is proved in computation time,iterations and number of extended nodes. The simulation results in two typical environments show that the algorithm can achieved path planning tasks well in obstacle circumstances.关键词
路径规划/快速扩展随机树/RRT/机械臂/最优路径Key words
path planning/rapidly-exploring random tree/RRT/manipulators/optimal path分类
信息技术与安全科学引用本文复制引用
张云峰,马振书,孙华刚,陆继山..基于改进快速扩展随机树的机械臂路径规划[J].火力与指挥控制,2016,41(5):25-30,6.基金项目
国家“863”计划基金资助项目 （）
