基于逆向重布线改进RRT-Connect算法的机械臂路径规划

Improved RRT-Connect algorithm based on reverserewiring for manipulator path planning

为解决RRT-Connect算法在复杂非结构环境下规划出的路径成本较长、有效节点数过多、曲折不平滑等问题,提出了一种基于逆向重布线的改进RRT-Connect算法(Improved-RRT-Connect).首先,在算法的起始位置加入碰撞检测函数,当起点和终点之间不存在障碍物时,能够快速生成一条路径;其次,通过对生成的路径采取逆向重布线的措施,对生成的路径中的节点进行重新筛选布线,达到缩短生成路径长度,减少有效节点数量的目的;最后,通过结合B样条曲线对生成的路径进行拟合处理,得到一条平滑连续的路径.通过Improved-RRT-Connect算法与RRT、RRT^(*)-Smart、RRT-Connect等算法的对比实验表明,在规划时间上,Improved-RRT-Connect算法比RRT、RRT^(*)-Smart算法减少了52.14%、98.53%,在路径成本上比RRT、RRT-Connect算法减少了19.39%、17.15%,阐明了提出的Improved-RRT-Connect算法的优越性.

In order to solve the problems of long path cost,excessive number of effective nodes and uneven twists and turns in complex unstructured environment,an improved RRT-Cconnect algorithm based on reverse rewiring is proposed.Firstly,a collision detection function is added to the starting position of the algorithm,which can quickly generate a path when there is no obstacle between the starting point and the ending point.Secondly,through the measures of reverse rewiring of the generated path,the nodes in the generated path are re-screened and routed,so as to shorten the length of the generated path and reduce the number of effective nodes.Finally,a smooth and continuous path is obtained by fitting the generated path with B-spline curve.The experimental results show that the planning time of the improved RRT-Connect algorithm is 52.14%and 98.53%less than that of RRT and RRT^(*)-smart algorithms,respectively,and the path cost is reduced by 19.39%and 17.15%.The advantages of the improved-RRT-Connect algorithm proposed in this paper are illustrated.