机械科学与技术2026，Vol.45Issue(1)：44-56,13.DOI:10.13433/j.cnki.1003-8728.20240038
结合人工鱼群和RRT算法的机械臂路径规划
Robotic Arm Path Planning Combined Artificial Fish Swarming and RRT Algorithms
摘要
Abstract
To address the issues of solid randomness in sampling points,poor path directionality,low path smoothness,and long paths in high-precision path planning of rapid-exploration random tree(RRT)algorithm,a fused artificial fish swarm algorithm(RRT-ASFA)is proposed to optimize the paths generated by RRT.Firstly,a target biasing strategy is proposed for RRT to reduce the randomness of sampling points and optimize the target direction;and step size adaption and search area restriction are proposed to optimize the path planning time.For the artificial fish swarming algorithm(ASFA),the adaptive step size and adaptive field-of-view range are then proposed to make the artificial fish swarm converge faster,and the turning points of the paths planned by RRT are optimized to make the paths shorter.Finally,the paths are smoothed by the Hermite spline function.Through simulation experiments,it is found that the combined algorithm demonstrated shorter path length and fewer path nodes compared to traditional RRT,target-biased RRT,and RRT* algorithms,proving the combined algorithm's feasibility.关键词
RRT算法/人工鱼群算法/机械臂/路径规划Key words
RRT algorithm/artificial fish swarm algorithm/robotic arm/path planning分类
矿业与冶金引用本文复制引用
田玉冬,徐传征..结合人工鱼群和RRT算法的机械臂路径规划[J].机械科学与技术,2026,45(1):44-56,13.基金项目
国家自然科学基金项目(51377104) （51377104）
