现代制造工程Issue(9)：41-52,12.DOI:10.16731/j.cnki.1671-3133.2025.09.006
基于改进RNN元启发式的RRT冗余机械臂路径规划
Path planning of redundant manipulator based on improved RNN meta-heuristic RRT
摘要
Abstract
In order to meet the requirement of automatic navigation of robot arm in intelligent maintenance of railway overhead contact system,a research method is proposed to comprehensively solve the problem of path planning and obstacle avoidance.This method transforms the dual objective into a single constrained optimization problem.On this basis,the standard Rapidly exploring Random Tree(RRT)algorithm is improved,the map complexity assessment strategies and Gaussian mixed distribution sampling strategies are introduced to constrain the generation direction of random sampling points.By adding the angle constraint strategy and the variable step size mechanism near the obstacle,the generation direction of the random tree is always growing towards the target point,so that the asymptotically optimal path is planned.In addition,a Recurrent Neural Network based on the Beetle Olfac-tory Detection(RNNBOD)algorithm is designed to configure the optimal joint angle to drive the redundant manipulator end ef-fector to move along the planned reference path,thereby reducing its computing cost.The simulation results show that the pro-posed method not only improves the search efficiency,node utilization and path quality of the standard RRT algorithm,but also successfully solves the problem of tracking and controlling the redundant manipulator during operation.关键词
接触网检修/路径规划/避障/递归神经网络算法/跟踪控制Key words
maintenance of overhead contact line/path planning/obstacle avoidance/Recurrent Neural Network(RNN)algorithm/tracking control分类
信息技术与安全科学引用本文复制引用
胡江瑜,马珺杰,李展,黄德青..基于改进RNN元启发式的RRT冗余机械臂路径规划[J].现代制造工程,2025,(9):41-52,12.基金项目
国家自然科学基金面上项目(62173279) （62173279）
四川水利职业技术学院校级重点科研项目(KY2025-01) （KY2025-01）
