机械科学与技术2026，Vol.45Issue(8)：1289-1296,8.DOI:10.13433/j.cnki.1003-8728.20240166
采用改进RRT算法的机械臂高效路径规划
Efficient Path Planning of Robot Arm Using An Improved RRT Algorithm
摘要
Abstract
To address the limitations of the Rapidly-exploring random tree(RRT)algorithm and its variant,RRT*,in robotic arm path planning application,such as excessive path length,blind search,lengthy planning times,and unsmooth paths,this study proposes an improved RRT algorithm.To enhance sample guidance and search efficiency,the algorithm incorporates a target-bias sampling strategy with prior conditions and an adaptive step size approach.It optimizes the collision detection process using adaptive detection points and a binary sequential detection method.Furthermore,pruning optimization and cubic B-spline curve fitting are introduced to reduce redundant path points and improve smoothness.Simulation experiments conducted on the MATLAB platform showed that compared to the RRT* algorithm,the improved RRT algorithm reduced path length,planning time,and number of iterations by 61.66%,94.89%,and 93.85%,respectively.Compared to the RRT algorithm,these reductions were 69.64%,83.90%,and 88.00%,respectively,while achieving higher path smoothness.These results validate the efficiency of the improved algorithm.Additionally,obstacle avoidance path planning experiments for robotic arms demonstrate that the improved algorithm can quickly generate viable paths through complex environments with multiple obstacles,confirming its practical utility in robotic arm applications.关键词
路径规划/RRT算法/目标偏置采样/曲线拟合/机械臂Key words
path planning/RRT algorithm/target-bias sampling/curve fitting/robot arm分类
信息技术与安全科学引用本文复制引用
吴开,杨建中,黄思,吴浩天,张青..采用改进RRT算法的机械臂高效路径规划[J].机械科学与技术,2026,45(8):1289-1296,8.基金项目
高质量发展专项(TC230H0AG-27) （TC230H0AG-27）
