重庆理工大学学报2024，Vol.38Issue(1)：338-345,8.DOI:10.3969/j.issn.1674-8425(z).2024.01.037
改进RRT算法的采摘机械臂路径规划
Path planning of picking manipulator with improved RRT
摘要
Abstract
To address the problems that the picking robot arm employing the traditional fast random extended tree(RRT)algorithm requires a long time to search the path in the orchard working environment and the final path is not smooth with many inflection points,this paper proposes an improved RRT obstacle avoidance algorithm adopting Gaussian sampling strategy,which reduces the randomness of sampling,avoids generating more unnecessary random trees,and increases the orientation of programming.Then,A*cost function is added to remove redundant points of the path.Finally,greedy algorithm is used to simplify the path and reduce its inflection points,so that the robot arm can move along the optimal path quickly and locate the target point accurately.Our simulation results show the improved algorithm effectively reduces the time of path planning and cuts the path lengths,demonstrating its fairly good effectiveness and practicality.关键词
机械臂/RRT/高斯采样/贪婪算法Key words
manipulator/RRT/Gaussian sampling/greedy algorithm分类
信息技术与安全科学引用本文复制引用
赵辉,郑缙奕,岳有军,王红君..改进RRT算法的采摘机械臂路径规划[J].重庆理工大学学报,2024,38(1):338-345,8.基金项目
天津市自然科学基金重点项目(08JCZDJC18600) （08JCZDJC18600）
天津市教委重点基金项目(2006ZD32) （2006ZD32）
