采用单位四元数的旋转约束RRT路径规划

Unit quaternion RRT path planning with rotation constraints

针对船舶虚拟原型设计时装配拆卸路径规划中的旋转约束问题,提出了一种基于快速随机探索树的旋转约束路径规划算法。该算法首先针对三维空间中的旋转提出了一种新的单位四元组随机采样函数,然后将单位四元数内积引入到C空间距离度量函数中,对路径中的旋转变化量进行控制。实验证明:该算法能够对刚体的旋转范围进行有效控制,同时还降低了运动过程中的旋转变化量。

A RRT-based new path planning algorithm was presented to deal with the assembly/disassembly path planning with rotation constraints for ship virtual prototyping.The algorithm involves a random sampling function of unit quaternion,and adds the unit quaternion inner product to C-space metric function for controlling the change of the rotation angles.The experiments show that the algorithm can more effectively constrain the rotation of the rigid and reduce the change of rotation angles.