现代电子技术2025，Vol.48Issue(6)：180-186,7.DOI:10.16652/j.issn.1004-373x.2025.06.027
基于改进RRT算法机械臂复杂避障路径规划研究
Research on robotic arm complex obstacle avoidance path planning based on improved RRT algorithm
摘要
Abstract
In order to solve the problem of obstacle avoidance and path planning for robotic arms under complex working conditions,an improved RRT algorithm is proposed by pre testing segmented interpolation by means of the dimensionality reduction.This algorithm is based on multiple dimensionality reduction experiments to fit the intermediate points of the path,and can continuously replace the target points by the interpolation to solve the long-distance and multi obstacle target path in segments.It has high advantages of time and solution,and can obtain the desired path direction of researchers.The visualization results show that in comparison with the RRTConnect algorithm,the proposed algorithm can reduce the convergence time by about 71%and the iteration computation by about 58%.In comparison with the traditional RRT* algorithm,the proposed algorithm can reduce the convergence time by about 45%and the iteration computation by about 83%.After Matlab simulation verification,the trajectory optimization and joint collision verification are realized,and the path obtained by the algorithm is reproduced by programming the robot under real working conditions,which verifites that the convergence time of the trajectory solved by the improved algorithm is shorter and effective,and has good application value.关键词
改进RRT算法/机械臂避障/路径规划/预实验/分段式插值/轨迹优化Key words
improved RRT algorithm/robotic arm obstacle avoidance/path planning/pre-experiment/segmented interpolation/trajectory optimization分类
信息技术与安全科学引用本文复制引用
付靖凯,慕丽,邸雪阳,张昕楠,张慧..基于改进RRT算法机械臂复杂避障路径规划研究[J].现代电子技术,2025,48(6):180-186,7.基金项目
辽宁省教育厅科学研究经费项目:青年科技人才"育苗"项目(LG202031) （LG202031）
