基于RRT搜索算法的六自由度机械臂避障路径规划

The Mechanical Arm of Six-Dof Obstacle Avoidance Path Planning Based on Rapid-Exploring Random Trees

针对三维空间下的机器人路径规划问题,提出了一种改进的快速随机树算法。该算法以机器人的出发点作为随机树的根节点,以基准向量为基准选择节点的扩展方向,逐渐增加叶子节点,降低了节点的随机性,提高了扩展速度。通过运动学反解快速规划出一条全局优化路径,对于反解失败的点,做了规划替代,保证了路径规划的平滑性,降低了机器人工作过程中的抖动,从而得到能够抵达目标位姿的安全路径。

A new improved rapid-exploring random tree algorithm for path planning of robot is proposed to plan an optimal path in complex environment .The starting point as root node of the random tree, and the standard vector as benchmark to choose direction.by extending, gradually increase the leaf nodes. The algorithm Improve the speed of expansion.Through the inverse kinematics rapid planning out a global optimization path, to solve the point of failure, instead of a reasonable method, makes the path smoothness, ensures mechanical arm steady at work, and finds a security path to reach target pose.