基于改进RRT的机械臂多目标点路径规划
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作者单位:

1.南京信息工程大学自动化学院;2.华北电力大学电气与电子工程学院;3.无锡学院自动化学院

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基金项目:

江苏省基础研究计划自然科学基金-青年基金项目(No.BK20230173)


Multi-target point path planning of robotic arm based on improved RRT
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Affiliation:

School of Electrical and Electronic Engineering,North China Electric Power University

Fund Project:

Natural Science Foundation of Jiangsu Basic Research Program - Youth Fund Project (No.BK20230173)

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    摘要:

    随着工业自动化的快速发展,输电线路的规模和复杂性不断增加,对输电线路的巡检和维护提出了更高要求。针对这一问题提出了一种基于优化RRT算法的机械臂多目标点路径规划方法,采用目标导向和动态椭圆约束域来提高采样效率,通过三次样条插值曲线对路径进行平滑处理,并引入obb包围盒法简化复杂输电线路环境下的障碍物模型,以提高碰撞检测效率。仿真表明,与传统RRT算法和RRT*算法相比,改进后的RRT算法在规划时间提升了65%~71%、采样点数减少了67%~79%、路径长度缩短了42%~47%,提高了机械臂在复杂输电线路环境下的多目标点路径规划效率和质量。

    Abstract:

    With the rapid development of industrial automation, the scale and complexity of transmission lines are increasing, which puts forward higher requirements for transmission line inspection and maintenance. To solve this problem, a multi-objective point path planning method based on optimized RRT algorithm is proposed. The sampling efficiency is improved by adopting target orientation and dynamic elliptic constraint domain, and the path is smoothed by cubic spline interpolation curve. The obb bounding box method is introduced to simplify the obstacle model in complex transmission line environment, so as to improve the collision detection efficiency. Simulation results show that compared with the traditional RRT algorithm and RRT* algorithm, the improved RRT algorithm can increase the planning time by 65%~71%, reduce the sampling points by 67%~79%, and shorten the path length by 42%~47%, which improves the efficiency and quality of multi-objective point path planning in complex electric transmission line environment.

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  • 收稿日期:2024-10-11
  • 最后修改日期:2024-10-11
  • 录用日期:2024-10-28
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