南方电网技术2025，Vol.19Issue(1)：93-105,128,14.DOI:10.13648/j.cnki.issn1674-0629.2025.01.010
基于IAPF-IRRT*复杂输电环境机械臂多目标点路径规划
Multi-Target Point Path Planning of Robotic Arm in Complex Transmission Environment Based on IAPF-IRRT
摘要
Abstract
Aiming at the problems of low efficiency and high cost of multi-target point path planning for robotic arms in complex transmission environments,the improved artificial potential field-informed rapidly-exploring random trees star(IAPF-IRRT*)algorithm is proposed to enhance path planning performance.Firstly,a cuboid repulsive field model is introduced to improve the spherical repulsive field model in traditional artificial potential field,and a repulsive field is established for complex obstacles in the transmission environment.Then,ellipsoidal regions are adopted with uniformly distributed positions to enhance the ellipsoidal regions in the IAPF-IRRT* algorithm.Local redundancies are avoided in sampling points in complex transmission environments and search efficiency is improved.Finally,the redundant nodes in the path are optimized by using a triangular optimization method and the path is smoothed by using cubic spline interpolation.Validation is conducted on three sets of obstacle maps of different complex-ity:simple 3D,complex 3D,and complex transmission environments.The results show that the time efficiency of IAPF-IRRT*algorithms compared with the standard RRT and RRT* algorithms is improved by 44.8%～83.8%,68.3%～95.2%,and 26.5%～71.8%,respectively.The cost of the path is reduced by 15.5%～35.0%,14.1%～35.3%,and 31.5%～43.5%,respectively.The number of nodes in the path is reduced by 75.6%～78.8%,75.0%～78.0%,and 70.4%～72.0%,respectively.关键词
人工势场法/IAPF-IRRT*算法/多目标点路径规划/输电环境Key words
artificial potential field method/IAPF-IRRT* algorithm/multi-target point path planning/transmission environment分类
信息技术与安全科学引用本文复制引用
罗宇,王明,吴田,曾忱,狄正辉,李杰豪,吕田浩..基于IAPF-IRRT*复杂输电环境机械臂多目标点路径规划[J].南方电网技术,2025,19(1):93-105,128,14.基金项目
国家自然科学基金资助项目(51807110).Supported by the National Natural Science Foundation of China(51807110). （51807110）
