摘要
针对6R机械臂在复杂环境下进行避障路径规划时成功率低、效率低等问题,提出一种改进人工势场法(APF)与快速扩展随机树法(RRT)的融合算法。对于传统APF目标不可达问题,提出引入斥力调节因子优化斥力函数,使得机械臂靠近目标点时,障碍物对机械臂的斥力逐渐减小并顺利到达目标点;针对传统RRT算法随机性过强问题,提出目标导向策略进行优化,使得采样点有一定的概率向目标点扩展;当APF陷入局部最优时,采用改进RRT算法进行路径规划,当跳出局部最优时,切换为APF继续路径规划。仿真结果表明:改进APF-RRT算法能适应各种复杂环境,且相较于传统APF和RRT算法具有规划时间短、规划成功率高等优点,有效解决了APF目标不可达和局部最小值的问题。最后通过JAKA机器人实验平台进行实际环境实验,验证了改进APF-RRT融合算法的可行性。
In order to solve the problems of low success rate and low efficiency of 6R manipulator path planning in a complex environment,an improved APF-RRT fusion algorithm was proposed.For the unreachable problem of the artificial potential field(APF),the repulsive adjustment factor was introduced into the repulsive function,so that the repulsive force of obstacles on the manipulator gradually decreased when the robot arm was near the target point,then the robot arm could reach the target point smoothly.Aiming at the problem of rapidly exploring random trees(RRT) algorithm with strong randomness,a target oriented strategy was proposed to make the manipulator extended to the target point with a certain probability.When the artificial potential field method fell into local optimal,the improved RRT algorithm was used for path planning.When the local minimum was skipped,the artificial potential field method was switched to continue path planning.Finally,the simulation results show that the improved APF-RRT algorithm can adapt to various complex environments,and has the advantages of short planning time and high planning success rate compared with traditional APF and RRT algorithms,the problem of unreachable target of APF method and local minimum is solved effectively.Finally,the feasibility of the improved APF-RRT fusion algorithm is verified by JAKA robot experiment platform.
作者
王杲
库祥臣
吴鸿宇
段磊
张小雨
WANG Gao;KU Xiangchen;WU Hongyu;DUAN Lei;ZHANG Xiaoyu(School of Mechatronics Engineering,Henan University of Science and Technology,Luoyang Henan 471003,China)
出处
《机床与液压》
北大核心
2024年第11期27-32,共6页
Machine Tool & Hydraulics
基金
河南省科技攻关资助项目(192102210065)。
关键词
6R机械臂
避障
路径规划
人工势场法
快速扩展随机树法
6R manipulator
obstacle avoidance
path planning
artificial potential field method
rapidly exploring random trees
