湖南工业大学学报2024，Vol.38Issue(1)：40-47,8.DOI:10.3969/j.issn.1673-9833.2024.01.006
基于AGD-RRT算法的机械臂路径规划
Path Planning of Manipulators Based on AGD-RRT Algorithm
摘要
Abstract
In view of such flaws as poor expandability,multiple redundant nodes,and poor path quality of RRT(rapidly-exploring random tree)in the path planning process of manipulators,an algorithm based on AGD-RRT(adaptive goal-directed RRT)has been proposed to address these above-mentioned problems.Firstly,the algorithm constructs a dynamic goal-directed probability function that adjusts the sampling probability of target points in real-time to achieve adaptive target orientation,thus reducing the generation of useless nodes and improving convergence speed.Secondly,a greedy convergence strategy is adopted for the prevention of a blind expansion of the random tree around the target.With the search completed,the node removal method is used to remove redundant nodes in the path,with the trajectory removed by B-spline curves for an improvement of the quality of the path.Then,comparative simulation experiments are to be conducted in 2D and 3D environments to verify the feasibility and superiority of the algorithm.Finally,a prototype experiment is conducted to verify the feasibility of the proposed algorithm for path planning in the joint space of the manipulator.关键词
机械臂/拓展导向性/人工势场/引力/斥力/路径规划/AGD-RRT算法Key words
robotic arm/development orientation/artificial potential field/gravity/repulsion/path planning/AGD-RRT algorithm分类
计算机与自动化引用本文复制引用
周枫林,赵钒地,陈腾飞,龙厚云,王瑾元,李光..基于AGD-RRT算法的机械臂路径规划[J].湖南工业大学学报,2024,38(1):40-47,8.基金项目
国家自然科学基金资助项目(11602082) （11602082）
湖南省自然科学基金资助项目(2021JJ30211,2021JJ50043) （2021JJ30211,2021JJ50043）
