现代电子技术2025，Vol.48Issue(9)：130-136,7.DOI:10.16652/j.issn.1004-373x.2025.09.020
BIA-RRT——自适应障碍物机械臂路径规划
BIA-RRT*:Adaptive obstacle robotic arm path planning
摘要
Abstract
For path planning in the environments with complex obstacles,a BIA-RRT* algorithm is proposed to get the balance between convergence time and path length in the environments with unevenly-distributed obstacles and non-regular obstacles.In the algorithm,any starting point and end point in space are taken as the ellipsoid focus,and the standard ellipsoid is subjected to spatial coordinate transformation according to the focus,so as to ensure that the range of ellipsoid sampling restriction is adapted to the starting point and end point at any position in space.Then,the MBR(minimum bounding rectangle)is used to wrap around the extended tree nodes to estimate the path length from the starting point to the end point.The path length is limited by the extended tree nodes.Heuristically,the path length is used to estimate the main axis diameter of the ellipsoid.New nodes are sampled directly in this subset to optimize the estimated path.Finally,the point clouds of irregular obstacles are sampled and simplified to a sphere,so that the robotic arm can avoid the obstacles more appropriately.The simulation results demonstrate that the proposed algorithm BIA-RRT* can balance the convergence time and path length.The BIA-RRT* reduces the search time and path length by 59.69%and 36.89%,respectively,in comparison with the traditional RRT,by 72.51%and 27.12%,respectively,in comparison with the RRT* and by 68.67%and 19.47%,respectively,in comparison with the P_RRT*.关键词
RRT*/路径规划/超椭球体/不规则障碍物/机械臂/点云Key words
RRT*/path planning/hyperellipsoidal sphere/irregular obstacle/robotic arm/point cloud分类
信息技术与安全科学引用本文复制引用
马奔驰,章翔峰,姜宏,李伟达,李德基,杨晨..BIA-RRT——自适应障碍物机械臂路径规划[J].现代电子技术,2025,48(9):130-136,7.基金项目
2023年国家级大学生创新训练计划项目(202310755120) （202310755120）
