基于灰狼优化算法的机械臂避障轨迹规划

Obstacle-Avoidance Trajectory Planning of Manipulator Based on Grey Wolf Optimization Algorithm

针对机械臂轨迹规划问题中机械臂各连杆均能实现全局避障的需求,提出一种基于灰狼优化算法的机械臂避障轨迹规划方法。首先对障碍物和机械臂进行包络模型简化,将碰撞检测问题转化为计算障碍物包络模型球心与各连杆连线中心线之间的距离是否过大的问题,并采用参数方程方法进行求解;其次采用含有待定六次项系数的多项式进行轨迹规划,通过调整六次项系数实现轨迹曲线调整,以满足避障需求;最后基于碰撞结果及其他运动学指标,加权后构建适应度函数并采用灰狼优化算法进行迭代优化,得出最优轨迹所对应的参数。通过MATLAB平台进行了仿真验证,结果表明:该方法能够规划出一条平滑且能够满足机械臂各连杆无碰撞需求的轨迹。

Aiming at the requirement that each link of the robot arm can achieve global obstacle avoidance in the trajectory planning problem of the robot arm,a method for obstacle avoidance trajectory planning of the robot arm based on the Grey Wolf optimization algorithm is proposed.Firstly,the envelope model of the obstacle and the robot arm is simplified,and the collision detection problem is transformed into a problem of calculating whether the distance between the spherical center of the obstacle envelope model and the centerline of each connecting rod is too large,and the parametric equation method is used to solve the problem.Secondly,a polynomial with undetermined sixth order coefficients is used for trajectory planning,and the trajectory curve is adjusted by adjusting the sixth order coefficients to meet the obstacle avoidance requirements.Finally,based on the collision results and other kinematic indicators,a fitness function is constructed after weighting and iterative optimization is performed using the Grey Wolf optimization algorithm to obtain the parameters corresponding to the optimal trajectory.The simulation results on the MATLAB platform show that the method can plan a smooth trajectory that meets the collision free requirements of each link of the robot arm.