信息与控制2026，Vol.55Issue(4)：701-713,726,14.DOI:10.13976/j.cnki.xk.2025.0531
基于BP-RRT*-FN算法的机械臂避障轨迹规划
Obstacle-avoidance Trajectory Planning of Manipulator Based on BP-RRT*-FN Algorithm
屈昆仪 1黄铝文 2刘宇航 1翟梦群 3耿静 1李雯敏1
作者信息
- 1. 西北农林科技大学信息工程学院,陕西 咸阳 712100
- 2. 西北农林科技大学信息工程学院,陕西 咸阳 712100||陕西省农业信息智能感知与分析工程技术研究中心,陕西 咸阳 712100
- 3. 西北农林科技大学机械电子工程学院,陕西 杨凌 712100
- 折叠
摘要
Abstract
To address the inefficiency of path computation for multi-degree-of-freedom manipulators in narrow environments,an improved BP-RRT-FN(back propagation-rapidly-exploring random tree*-fast node)obstacle-avoidance trajectory planning algorithm is proposed.To achieve more rapid and accurate convergence in 3D trajectory planning,the node sampling probability is calculated using a distance weighting function.Then,by combining the spherical envelope obstacle model and the axial envelope method,the algorithm calculates an obstacle-free path.Through staged local search,the BP network is trained to predict the number of nodes to be sampled in each local search stage,enabling the algorithm to automatically proceed to the next search stage.To reduce the generation of redundant sampled nodes and improve path optimization efficiency,the FN algorithm is applied to randomly deleting nodes.Simulation results show that the average number of sampled nodes is reduced by 24.96%and 25.30%in two respective scenarios,and the path calculation time is reduced by 6.47 s and 3.87 s,correspondingly.Experimental results on a six-degree-of-freedom manipulator indicate that,during obstacle avoidance movements,the average grasping time and the average search time are reduced by 3.58 s and 3.21 s,respectively.This algorithm can improve the path calculation efficiency of multi-DOF manipulators in multi-obstacle spaces.关键词
机械臂/采样空间划分/避障轨迹规划/分阶段局部搜索/RRT*Key words
manipulator/sampling space partitioning/obstacle-avoidance trajectory planning/stage-based local search/RRT*分类
信息技术与安全科学引用本文复制引用
屈昆仪,黄铝文,刘宇航,翟梦群,耿静,李雯敏..基于BP-RRT*-FN算法的机械臂避障轨迹规划[J].信息与控制,2026,55(4):701-713,726,14.
