基于改进概率路标法的虚拟吊装路径规划

Virtual Hoisting Path Planning Based on Improved Probabilistic RoadMap Algorithm

针对高维空间虚拟吊装路径规划困难的问题,利用改进概率路标法对吊装路径进行规划.在考虑吊物摆动的基础上,建立起吊装系统的位姿空间模型;采用均匀随机采样策略使吊装位姿点在位姿空间中均匀分布,改进邻近节点选择方法限制相邻位姿节点的自由度变化数目,建立可行吊装路径概率路线图;以吊装路径最短、运动形式变化最少为优化目标,找出符合吊装操作的最优路径;以此为依据来对操作者的吊装过程进行指导及评价.实验结果表明,该算法能在复杂的虚拟吊装环境中找出一条最优路径并能很好地解决多自由度路径规划问题.

In order to solve the difficult problem of virtual hoisting path planning in high dimensional space,an improved Probabilistic RoadMap algorithm is used to plan the lifting path.Based on the swinging of the hanging objects,the configuration space model of hoisting system is established,using the uniform random sampling strategy to obtain a large number of sampling nodes,connecting the neighbor sampling nodes to get the probability roadmap of the hoisting feasible path,and then by lifting the shortest path and motion change minimum as the optimization goal,finding the optimal path of the hoisting operation.On this basis,the operator's hoisting process is guided and evaluated.Experimental results show that this method can find an optimal path in complex virtual lifting environment,and can solve the multi-degree of freedom path planning problem well.