现代制造工程Issue(2)：1-9,9.DOI:10.16731/j.cnki.1671-3133.2025.02.001
基于改进APF引导的双向RRT机械臂路径规划算法研究
Research on the path planning algorithm of RRT-Connect robotic arm based on improved artificial potential field guidance
摘要
Abstract
Aiming at the problems of large randomness,slow convergence,and poor path quality of traditional RRT-Connect algo-rithm in path planning,a RRT-Connect robotic arm path planning algorithm based on improved APF guidance was proposed.Firstly,a dynamic bias strategy was introduced to reduce the problem of large randomness of the original RRT-Connect algorithm;secondly,when expanding a new node,the node randomness and the weight of the total potential field were adaptively adjusted ac-cording to the distance from the obstacle;then,a robotic arm collision detection model was incorporated and a two-way direct-connected linear interpolation detection was carried out until the initial path was generated;finally,three times of B-spline smoot-hing was carried out on the generated path to produce feasible paths that conform to the actual motion constraints of the robotic arm.3 different environments were constructed in 2D and 3D to simulate and to compare with the improved algorithm,the results showed that the improved algorithm could effectively improve the relevant performance.The application of the improved algorithm to the physical platform further proves the effectiveness and feasibility of the algorithm.关键词
机械臂/路径规划/双向RRT/人工势场Key words
robotic arm/path planning/RRT-Connect/artificial potential field分类
信息技术与安全科学引用本文复制引用
朱敏,陈思源,陈杰..基于改进APF引导的双向RRT机械臂路径规划算法研究[J].现代制造工程,2025,(2):1-9,9.基金项目
国家自然科学基金项目(62073113) （62073113）
