自主作业破碎锤多目标运动路径规划研究

Research on Path Planning for Intelligent Hydraulic Breaker

以工程用破碎锤为研究对象,基于运动学分析,在ROS平台中搭建虚拟仿真环境,建立破碎机械臂模型。采用RRT和RRT*算法,分别在无障碍物环境和有障碍物环境下,对破碎机械臂进行重复运动规划仿真。结果表明:RRT算法路径规划用时少,但规划路径合理性和成功率都低于RRT*算法,且存在盲目搜索的问题。相比之下,RRT*算法可以随规划次数增加对路径进行优化,获得更平顺、更合理的破碎锤运动规划结果。

The research object is hydraulic breaker which is widely employed in engineering.Kinematics analysis for the hydraulic breaker arm was performed,the virtual simulation environment was built in the ROS platform,and a three-dimensional analysis model of the breaker arm was established.RRT and RRT*algorithms were used to simulate the motion planning of the breaker in environment with/without obstacles,respectively.The results show that RRT algorithm had less calculating time.However,the rationality and reliability of the planned path from RRT algorithm was lower than that from RRT*algorithm.Meanwhile,RRT algorithm tended to search blindly in some cases.In contrast,RRT*algorithm could gradually optimize the path with more planning times and thus obtain more smooth and reasonable motion planning result.