摘要
为解决移动机械臂存在停靠误差和运动规划效率较低的问题,提出了一种基于改进快速扩展随机树(RRT)算法的移动机械臂运动规划方法。首先对移动平台停靠误差进行分析,通过变换矩阵进行误差补偿。然后对RRT算法进行改进,通过基于概率的目标偏置策略减少无用搜索,通过回归过滤机制避免局部重复搜索,通过自适应步长策略加快搜索速度。实验表明该改进RRT算法规划效率高且规划路径代价小,有良好的综合性能。
In order to solve the problems of docking error and low motion planning efficiency of mobile manipulator,a motion planning method of mobile manipulator based on improved RRT algorithm is proposed.Firstly,the docking error of mobile platform is analyzed and compensated by transformation matrix.Then,the RRT algorithm is improved to reduce useless search through target bias strategy based on probability,avoid local repeated search through regression filtering mechanism,and speed up search through adaptive step size strategy.Experimental results show that the improved RRT algorithm has high planning efficiency and low path planning cost,and has good comprehensive performance.
作者
宋阳
钱晓明
杨雷
杨威
黄鑫
Song Yang;Qian Xiaoming;Yang Lei;Yang Wei;Huang Xin(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing,210016,China;Miracle Automation Engineering Co.,Ltd.,Jiangsu Wuxi,214187,China)
出处
《机械设计与制造工程》
2024年第3期49-54,共6页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金面上项目(61973154)。
