现代制造工程Issue(2)：56-65,10.DOI:10.16731/j.cnki.1671-3133.2026.02.008
基于空间体素化的动态目标引导边界框的自适应步长BI-RRT*机械臂路径规划
Adaptive step size path planning of BI-RRT* for manipulators based on spatial voxelization and dynamic target-guided bounding boxes
宋立业 1王耀琦 1王怿飞 1成泊雨 1刘屹江泽 1万哲岫 1崔昊2
作者信息
- 1. 辽宁工程技术大学电气与控制工程学院,葫芦岛 125105
- 2. 中电投锦州港口有限责任公司,锦州 121000
- 折叠
摘要
Abstract
It addresses the challenges of strong search randomness,slow convergence,and high computational complexity in robotic arm 3D path planning by proposing the Spatial Cell-Dynamic Target Guided Bounding box-Adaptive Step-BI-RRT*,(SC-DTGB-AS-BI-RRT*)algorithm.It combines adaptive step sizes with a Bidirectional Rapidly-exploring Random Tree(BI-RRT*)approach,enhanced by space voxelization and dynamic target-guided bounding boxes.The algorithm's multi-level optimi-zation strategy first uses space voxelization to discretize 3D space,reducing computational load and boosting environmental per-ception accuracy.A dynamic target-guiding and bounding-box strategy adjusts the search focus across iterations:global explora-tion initially,a balance of exploration and convergence mid-way,and rapid path convergence later.The dynamic bounding box a-dapts the sampling range based on obstacle density,shrinking in cluttered areas and expanding in open spaces to enhance sam-pling efficiency.An adaptive step-size mechanism allows for large steps in free spaces and small steps near obstacles or during path convergence.Finally,cubic B-spline curves smooth the planned paths,reducing robotic arm joint jitter and improving energy efficiency.The algorithm's effectiveness is validated through 3D comparative experiments.It is then integrated with a robotic arm's obstacle-avoidance function and deployed on the PUMA 560 robotic arm.Accurate obstacle-avoidance trajectory planning is achieved using the MATLAB R2022a simulation platform.关键词
路径规划/机械臂/空间体素化/动态目标引导边界框/自适应步长/机械臂避障Key words
path planning/robotic arm/spatial voxelization/dynamic target-guided bounding box/adaptive step size/mechanical arm obstacle avoidance分类
矿业与冶金引用本文复制引用
宋立业,王耀琦,王怿飞,成泊雨,刘屹江泽,万哲岫,崔昊..基于空间体素化的动态目标引导边界框的自适应步长BI-RRT*机械臂路径规划[J].现代制造工程,2026,(2):56-65,10.
