基于改进APF引导的双向RRT机械臂路径*

doi:10.16731/j.cnki.1671-3133.2025.02.001

现代制造工程 ›› 2025, Vol. 533 ›› Issue (2): 1-9.doi: 10.16731/j.cnki.1671-3133.2025.02.001

• 试验研究 • 下一篇

基于改进APF引导的双向RRT机械臂路径^*

朱敏^1,2, 陈思源¹, 陈杰¹

1 合肥工业大学电气与自动化工程学院,合肥 230009;
2 工业自动化安徽省工程技术研究中心,合肥 230009

收稿日期:2024-08-01 出版日期:2025-02-18 发布日期:2025-02-27
作者简介:朱敏,副教授,硕士研究生导师,主要研究方向为复杂系统建模与控制。陈思源,硕士研究生,主要研究方向为机械臂运动控制及路径规划。陈杰,硕士研究生,主要研究方向为机器视觉和深度学习。E-mail:1822953877@qq.com
基金资助:
^*国家自然科学基金项目(62073113)

Research on the path planning algorithm of RRT-Connect robotic arm based on improved artificial potential field guidance

ZHU Min^1,2, CHEN Siyuan¹, CHEN Jie¹

1 School of Electrical and Automation Engineering,Hefei University of Technology,Hefei 230009,China;
2 Anhui Provincial Engineering Technology Research Center for Industrial Automation,Hefei 230009,China

Received:2024-08-01 Online:2025-02-18 Published:2025-02-27

摘要/Abstract

摘要： 针对传统双向RRT算法在路径规划中随机性大、收敛慢和路径质量差等问题,提出了一种基于改进人工势场法(Artificial Potential Field,APF)引导的双向RRT机械臂路径规划算法。首先引入动态偏置策略,减小原始双向RRT算法随机性大的问题;其次,在扩展新节点时,根据与障碍物距离自适应地调整节点随机性与总势场的权重;然后融入机械臂碰撞检测模型并进行双向直连线性插值检测,直至生成初始路径;最后再对生成的路径进行三次B样条平滑处理,产生符合机械臂实际运动限制的可行路径。在二维和三维环境下分别构建三种不同环境对改进算法进行仿真对比,结果表明改进算法能有效提高相关性能。将改进算法应用至实物平台中,进一步证明了算法的有效性与可行性。

关键词: 机械臂, 路径规划, 双向RRT, 人工势场

Abstract: Aiming at the problems of large randomness,slow convergence,and poor path quality of traditional RRT-Connect algorithm in path planning,a RRT-Connect robotic arm path planning algorithm based on improved APF guidance was proposed. Firstly,a dynamic bias strategy was introduced to reduce the problem of large randomness of the original RRT-Connect algorithm; secondly,when expanding a new node,the node randomness and the weight of the total potential field were adaptively adjusted according to the distance from the obstacle; then,a robotic arm collision detection model was incorporated and a two-way direct-connected linear interpolation detection was carried out until the initial path was generated; finally,three times of B-spline smoothing was carried out on the generated path to produce feasible paths that conform to the actual motion constraints of the robotic arm. 3 different environments were constructed in 2D and 3D to simulate and to compare with the improved algorithm,the results showed that the improved algorithm could effectively improve the relevant performance. The application of the improved algorithm to the physical platform further proves the effectiveness and feasibility of the algorithm.

Key words: robotic arm, path planning, RRT-Connect, artificial potential field

中图分类号:

TP241

朱敏, 陈思源, 陈杰. 基于改进APF引导的双向RRT机械臂路径^*[J]. 现代制造工程, 2025, 533(2): 1-9.

ZHU Min, CHEN Siyuan, CHEN Jie. Research on the path planning algorithm of RRT-Connect robotic arm based on improved artificial potential field guidance[J]. Modern Manufacturing Engineering, 2025, 533(2): 1-9.

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基于改进APF引导的双向RRT机械臂路径^*

Research on the path planning algorithm of RRT-Connect robotic arm based on improved artificial potential field guidance

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