机械科学与技术2023，Vol.42Issue(12)：2021-2029,9.DOI:10.13433/j.cnki.1003-8728.20220176
一种IPRRT的机械臂三维路径避障算法
An Improved Rapidly-exploring Random Tree Algorithm for Manipulator's 3D Path Obstacle Avoidance
摘要
Abstract
The standard rapidly-exploring random tree algorithm for path planning takes a long time and has poor path quality.Therefore,an improved rapidly-exploring random tree algorithm is proposed.Firstly,redundant sections are eliminated by using the re-selecting parent node link strategy,and redundant nodes are eliminated with the regional exclusion mechanism to shorten the planning path and time.Secondly,the line segment angle limit and the evaluation function are used to improve the path quality.Finally,the cubic Hermite curve is used to smooth the path.The simulation of a deep-sea manipulator verifies the effectiveness of the improved rapidly-exploring random tree algorithm.关键词
RRT/机械臂/路径规划/三次Hermite曲线/ROS系统Key words
RRT/mechanical arm/path planning/cubic Hermite curve/robot operating system分类
信息技术与安全科学引用本文复制引用
钟华庚,丁健,郭永欢,罗高生,王芳,冯玮..一种IPRRT的机械臂三维路径避障算法[J].机械科学与技术,2023,42(12):2021-2029,9.基金项目
国家自然科学基金面上项目(52071203)、上海市科技攻关计划项目(20dz1206500)、上海市科委自然科学基金面上项目(19ZR1422700)及上海市工程技术研究中心建设计划(19DZ2254800) （52071203）
