农机化研究2025，Vol.47Issue(8)：25-32,8.DOI:10.13427/j.issn.1003-188X.2025.08.004
采摘机械臂路径规划的GA-RRT算法研究
GA-RRT Algorithm for Path Planning of Picking Manipulator
摘要
Abstract
A GA-RRT algorithm was proposed to improve the efficiency of path generation and reduce the path cost for ai-ming at the complex environment of picking operation.The initial step size and goal area was determined by the environ-ment coefficient.The generation range of random point was narrowed to goal area and the step size is adjusted after the ex-pansion point entered goal area.The target guidance probability was added to improve the efficiency of path planning.Simplifying points and cubic B-spline curve were used to reduce the path cost and smooth the path.The simulation showed that,in 2D space,the GA-RRT algorithm reduced the search time by 85.15%and 29.86%,and it reduced the path cost by 19.18%and 18.26%,comparing with the RRT and RRT-connect algorithms.The GA-RRT algorithm re-duced the search time by 54.70%and reduced the path cost by 51.59°,comparing with the RRT algorithm that incorpo-rating the target guidance probability in manipulator simulation.The feasibility of the algorithm was verified by an IRB120 manipulator.关键词
采摘机械臂/路径规划/快速搜索随机树算法/终点区域Key words
picking manipulator/path planning/rapid-exploration random tree algorithm/goal area分类
农业科技引用本文复制引用
李炳彤,李海虹..采摘机械臂路径规划的GA-RRT算法研究[J].农机化研究,2025,47(8):25-32,8.基金项目
山西省重点研发计划项目(202102140601015) （202102140601015）
