| 基于改进快速扩展随机树算法的双机械臂协同避障规划方法 |
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| 引用本文： | 陈波芝,陆亮,雷新宇,赵萍. 基于改进快速扩展随机树算法的双机械臂协同避障规划方法[J]. 中国机械工程, 2018, 29(10): 1220 |
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| 作者姓名： | 陈波芝 陆亮 雷新宇 赵萍 |
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| 作者单位： | 合肥工业大学机械工程学院，合肥，230009 |
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| 摘 要： | 提出了一种基于改进RRT算法的双机械臂协同避障运动规划方法。针对静态障碍物对主臂进行避障运动规划，寻找主臂可行路径。将主臂每一时刻的运动位姿视为规划从臂运动时的动态障碍物，为从臂规划可行运动路径。为提高算法的搜索效率，利用节点剪枝择优和设置目标区域的方式使算法快速收敛。在MATLAB程序建模实验的基础上，在ADAMS中进行仿真实验，验证了该算法的有效性和可行性。
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| 关 键 词： | 双臂机器人 改进快速扩展随机树算法 运动规划 协同避障 |
Simultaneous Obstacle-avoidance Motion Planning Approach for Dual Arm Robots Based on Improved RRT Algorithm |
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| CHEN Bozhi,LU Liang,LEI Xinyu,ZHAO Ping. Simultaneous Obstacle-avoidance Motion Planning Approach for Dual Arm Robots Based on Improved RRT Algorithm[J]. China Mechanical Engineering, 2018, 29(10): 1220 |
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| Authors: | CHEN Bozhi LU Liang LEI Xinyu ZHAO Ping |
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| Affiliation: | School of Mechanical Engineering， Hefei University of Technology， Hefei， 230009 |
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| Abstract: | A new obstacle avoidance approach was proposed based on improved RRT algorithm.Motion planning for the main arm was conducted and obtained to avoid existing static obstacles in working environments.Then the main arm was regarded as dynamic obstacles to obtain a feasible motion trajectory of the second robot arm.To improve the search efficiency of the algorithm， strategies of nodes-pruning as well as setting of target area were adopted， where the algorithm was terminated if the distance between manipulator's end positions and goal points within prescribed tolerances.Based on MATLAB program modeling experiments， simulation experiments were studied in ADAMS to demonstrate effectiveness and feasibility of the algorithm. |
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| Keywords: | dual arm robot improved rapidly-exploring random tree（RRT） algorithm motion planning simultaneous obstacle-avoidance |
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