摘要
研究船舶装配拆卸路径规划优化问题,设备在安装维修过程中时会受到各种约束的限制,对快速有效地规划可行的装配拆卸路径一直都是船舶虚拟原型设计中的难点之一。针对装配拆卸路径规划中的旋转约束问题,提出一种基于快速探索随机树(RRT)算法的新的旋转约束路径规划算法。算法针对RRT算法中基于欧拉角的三维空间旋转分量随机采样函数分布不均匀的问题,设计了一种新的欧拉角均匀分布随机采样函数来生成随机位姿点,将欧拉角距离引入到C空间距离度量函数中,对路径中的旋转变化量进行控制,并引导路径规划方向。进行仿真的结果证明,算法能够对高维空间中刚体的旋转范围进行有效控制,具有较高的装配效率。
Because of the small space in the ship cabin,equipment installation or maintenance will be subject to various constraints,so the quick and effective planning of the feasible assembly/disassembly path has been difficult during the virtual prototyping of ship.To solve the assembly/disassembly path planning with rotation constraints for ship virtual prototyping,a new RRT-based path planning algorithm was presented for the environment with rotation constraints.The algorithm firstly addressed a uniform random sampling function which is used to replace the non-uniform Euler angles sampling function of RRT and generate uniform configurations in the C-space,then an Euler distance function is added to C-space metric function for controlling the changes of the rotation angles.Experiments show that the algorithm much more effectively restricts the rotation of the rigid and reduces the changes of rotation angles.
出处
《计算机仿真》
CSCD
北大核心
2011年第6期379-383,共5页
Computer Simulation