基于改进RRT-Connect的空间操作臂避障路径规划研究

针对传统RRT-Connect算法应用于空间操作臂避障路径规划时,规划路径存在盲目性大、安全性差以及无效路径点多等问题,提出一种改进RRT-Connect算法。该算法结合RRT-Connect算法和Dijkstra算法,首先通过引入双树扩展目标点变更策略、极致贪婪策略以及新的碰撞检测方法提高传统RRT-Connect算法路径搜索效率和安全性;然后利用Dijkstra算法的优化特性去除规划路径中的多余无效节点,达到整体路径规划搜索速度快、路径长度短和安全性高等效果;最后通过MATLAB机器人工具箱进行算法对比仿真实验验证,实验结果表明了该方法的有效性和可行性。

Research on obstacle avoidance path planning of spatial manipulator based on improved RRT-Connect

An improved RRT-Connect algorithm,which synthesizes the merit of Dijkstra policy,is proposed to boost its prior one in view of the disadvantages of node extension inef?ciency,poor safety and multiple invalid path points in the obstacle-avoidance path planning of spatial manipulators.Firstly,the path search efficiency and safety of the traditional RRT-Connect algorithm are improved by the presenting of dual trees to extend the target change strategy,extreme greed strategy and new collision detection method.Secondly,the optimization feature of the Dijkstra algorithm is utilized to eliminate redundant invalid nodes in the planned path to achieve the effects of high search speed,short path length and high security in path planning.Finally,algorithmic simulation experiments were performed through the MATLAB Robotics Toolbox,which showed the effectiveness and feasibility of this method.