文章摘要
曹毅,郭梦诗,刘海洲.基于改进RRT算法的串联机械臂避障空间路径规划[J].机床与液压,2018,46(18):70-76.
.Space path planning for obstacle avoidance of series manipulator based on improved RRT algorithm[J].Machine Tool & Hydraulics,2018,46(18):70-76
基于改进RRT算法的串联机械臂避障空间路径规划
Space path planning for obstacle avoidance of series manipulator based on improved RRT algorithm
  
DOI:10.3969/j.issn.1001-3881.2018.18.010
中文关键词: 快速扩展随机树  路径规划  平面墙  窗口RRT
英文关键词: Rapidly exploring random tree, Path planning, Wall plane, Win_RRT
基金项目:
作者单位E-mail
曹毅 河南工业大学 电气工程学院 caoyioffice@163.com 
郭梦诗   
刘海洲   
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中文摘要:
      由于基本快速扩展随机树(RRT)算法分支数量多,随机性强等问题,提出了一种改进的RRT算法。主要研究三维(3D)避障工作空间中串联机械手的路径规划问题。为了快速有效避开障碍物,窗口RRT算法引入了平面墙和窗口函数,使其不仅可以与环境约束相结合,而且同一任务路径规划相同。在蒙特卡洛法工作空间中进行窗口RRT算法的路径规划。最后,通过在MATLAB上进行相关仿真实验,验证算法的准确性和有效性。
英文摘要:
      Because there is some shortcomings in basic Rapidly exploring Random Tree (RRT) algorithm such as a great quantity of branches, strong randomness, this paper presents an improved RRT. This paper mainly deals with the path planning of a series manipulator in three dimensional (3D) obstacle avoidance workspace. For avoiding obstacles acutely and effectively, the wall plane and Window function are introduced the Window RRT (shorted as Win_RRT) algorithm. The Win_RRT algorithm can not only combine with environmental constraints, but also generate the identical path for the same environment. The path is found by the Win_RRT algorithm in the obstacle avoidance workspace of Monte Carlo. Finally, the accuracy and effectiveness of the algorithm are proved by a manipulator example on MATLAB.
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