四川轻化工大学学报（自然科学版）2024，Vol.37Issue(1)：61-70,10.DOI:10.11863/j.suse.2024.01.08
基于改进RRT*算法的机械臂路径规划研究
Research on Path Planning of Manipulator Based on Improved RRT* Algorithm
摘要
Abstract
RRT(Rapidly expanding Random Tree)algorithm is a sampling-based path planning algorithm,which is quite suitable for robot path planning.However,the traditional RRT* algorithm has the disadvantages of long time consumption and high memory consuption utilization.Therefore,an improved RRT* algorithm is proposed to solve these problems,whose selection range of the parent nodes are optimized,and target biased sampling and heuristic strategy is introduced on the basis of the traditional random sampling mechanism,which reduces the time consumption of the algorithm and shortens the path length;the node rejection strategy is introduced to eliminate redundant paths with too large turning angles and further improve the algorithm efficiency.Matlab is used to carry out simulation experiments,and the results show that the improved RRT*algorithm can search the shortest collision free path from the starting point to the end point in a shorter time,and can be well applied to the path planning of the manipulator.关键词
路径规划/改进RRT*/目标偏置采样/启发式策略/节点拒绝策略/机械臂Key words
path planning/improved RRT*/target biased sampling strategy/heuristic strategy/node rejection strategy/mechanical arm分类
信息技术与安全科学引用本文复制引用
刘学深,曹立佳..基于改进RRT*算法的机械臂路径规划研究[J].四川轻化工大学学报（自然科学版）,2024,37(1):61-70,10.基金项目
四川省科技创新苗子工程项目(MZGC20230084) （MZGC20230084）
中国高校产学研创新基金项目(2021ZYA11002) （2021ZYA11002）
四川轻化工大学研究生创新基金项目(y2021088) （y2021088）
