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[1]郭 茜,袁德成.基于改进RRT*算法的可重构机器人路径规划[J].工业仪表与自动化装置,2023,(03):70-74.[doi:10.19950/j.cnki.cn61-1121/th.2023.03.014]
　GUO Qian,YUAN Decheng.Path planning of reconfigurable robot based on improved RRT* algorithm[J].Industrial Instrumentation & Automation,2023,(03):70-74.[doi:10.19950/j.cnki.cn61-1121/th.2023.03.014]
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基于改进RRT*算法的可重构机器人路径规划

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2023年03期
页码:
70-74
栏目:
出版日期:
2023-06-15

文章信息/Info

Title:
Path planning of reconfigurable robot based on improved RRT* algorithm
文章编号:
1000-0682（2023）02-0070-05
作者:
郭 茜; 袁德成
沈阳化工大学 信息工程学院, 辽宁 沈阳 110142
Author(s):
GUO Qian; YUAN Decheng
School of information engineering, Shenyang University of Chemical Technology, Liaoning Shenyang 110142, China
关键词:
可重构机器人; 改进RRT*;  采样空间优化; 节点冗余裁剪; 路径规划
Keywords:
reconfigurable robot;  improved RRT*;  sampling space optimization;  node redundancy cropping;  path planning
分类号:
TP242
DOI:
10.19950/j.cnki.cn61-1121/th.2023.03.014
文献标志码:
A
摘要:
针对可重构机器人在复杂环境中的路径规划问题，设计了一种基于改进RRT*算法的可重构机器人路径规划方法。首先，针对RRT*算法规划时间过长问题，提出缩小节点采样空间法，并在迭代过程中优化采样区域，避免了资源的浪费。此外，设计了路径点冗余裁剪法，使得可重构机器人路径点数减少，拐点消减，总体规划路径缩短。在此基础上，建立多足可重构机器人的基本运动状态库，能够根据不同的环境改变自身构型来完成路径规划。采用MATLAB软件在障碍物数目和环境不同的状况下进行路径规划仿真实验，实验结果表明改进后的RRT*算法减少了规划时间，缩短了规划路径，验证了算法的有效性。
Abstract:
A reconfigurable robot path planning method based on the improved RRT* algorithm is designed for the path planning problem of reconfigurable robots in complex environments. First, to solve the problem of long planning time of the RRT* algorithm, a reduced node sampling space method is proposed, and the sampling area is optimised during the iteration process to avoid the waste of resources. In addition, the path point redundancy trimming method is designed to reduce the number of reconfigurable robot path points, abate the inflection points and shorten the overall planning path. Based on this, base on the basic motion state library of the multi-legged reconfigurable robot, it can change its own configuration according to different environments to complete the path planning. By using MATLAB software, the path planning simulation experiments are conducted under different conditions of obstacle number and environment. The results of the experiments show that the improved RRT* algorithm reduces the planning time and shortens the planning path, which verifies the effectiveness of the algorithm.

参考文献/References:

[1] 刘金国,王越超,李斌,等.模块化变形机器人非同构构形表达与计数[J]. 机械工程学报, 2006, 42(1): 98-105.

[2] 杨俊成,李淑霞,蔡增玉.路径规划算法的研究与发展[J]. 控制工程, 2017, 24(7): 1473-1480.
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[9] 李剑光,刘椿鹏,周梓燚,等.基于改进RRT*算法的机械臂路径规划[J/OL]. 组合机床与自动化加工技术, 2022(03): 9-12.?div>[10] GAMMELL J D, SRINIVASA S S, BARFOOT T D. Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic[C/OL]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2014: 2997-3004.

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备注/Memo

备注/Memo:
收稿日期：2023-03-03

第一作者：
郭茜(1997—)，女，山东泰安人，硕士研究生，主要从事可重构机器人规划与控制相关研究。
更新日期/Last Update: 1900-01-01