Motion planning method of manipulator based on improved RRT combined with B-spline

被引：0
作者：
Li Y. [1 ]
Zhang L. [1 ]
Li P. [1 ]
Wang X. [1 ]
Wang W. [1 ]
机构：
[1] School of Electronic Information, Xi'An Polytechnic University, Xi'an
来源：
Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2023年 / 29卷 / 01期
基金：
中国国家自然科学基金;
关键词：
adaptive variable step size; cubic B-spline; industrial manipulator; motion planning; rapidly exploring random tree algorithms; target bias strategy;
D O I：
10.13196/j.cims.2023.01.022
中图分类号：
学科分类号：
摘要：
To conquer the defect of strong randomness, poor guidance, long planning time and poor smoothness of the planned path of traditional Rapidly exploring Random Tree (RRT) algorithm, an improved RRT algorithm based on target bias strategy combined with adaptive variable step size named P-Adaptive Variable Step size-RRT (PAVS-RRT) was proposed. A target bias threshold was set on the basis of the traditional RRT algorithm, and a local expansion mechanism was introduced to avoid local optimization problems caused by changing the sampling structure; the search time was optimized by combining the adaptive step strategy; the cubic B-spline function was used to fit and optimize the planned path. The proposed algorithm in the simulation experiment ensured that the manipulator successfully avoided obstacles and reaches the target smoothly, meanwhile, its joint parameters had small fluctuations and no sudden changes, which effectively reduced the chattering of the manipulator during the motion planning process. Experimental results showed that the average path search time of the proposed algorithm was increased by 73. 49% compared with the basic algorithm; the search efficiency and smoothness of the algorithm were significantly improved. © 2023 CIMS. All rights reserved.
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页码：254 / 263
页数：9
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