基于改进RRT^(*)算法的机械臂路径规划

Path Planning of Manipulator Based on Improved RRT^(*)Algorithm

针对传统的RRT算法在串联机械臂的路径规划中缺乏方向性,占用CPU的资源过多,效率较低,路径规划不平滑等问题,对传统的RRT算法进行了改进,在不增加RRT算法初始路径节点数的前提下,增加了目标偏置策略,增加了随机树向目标点扩展的概率;其次,通过多次偏差迭代的方法优化路径节点的位置,不增加原有路径节点数量的情况下,实现RRT*算法的二次路径平滑优化,将改进的算法在MATLAB中进行仿真实验,实验结果表明改进后的RRT*算法路径规划所用的时间短,规划的路径更加优化,平滑度更好。

Because the traditional RRT algorithm lacks directionality,takes over occupied CPU,lower efficiency,and unsmooth path planning,so the research improved traditional RRT algorithm in order to increase target offset strategy,probability of random tree expanding to the target point without increasing the number of nodes in the initial path of RRT algorithm.Then,the improved algorithm is simulated in MATLAB by optimizing multiple deviation iterations and secondary path smoothing optimization of RRT*algorithm.The results showed that the improved RRT*algorithm takes less time for path planning,and the planned path is more optimized and smoother,which effectively solved the existing problems and deficiencies,improved the work efficiency.