Manipulator path planning using fusion algorithm of low difference sequence and rapidly exploring random tree

被引：0
|
作者：
Dai W. [1 ,2 ]
Li C.-Y. [1 ]
Yang C.-Y. [1 ,2 ]
Ma X.-P. [1 ,2 ]
机构：
[1] School of Information and Control Engineering, China University of Mining Technology, Xuzhou
[2] Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 01期
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Low difference sequence; Manipulator; Path planning; Rapidly exploring random tree; Sampling pool;
D O I：
10.7641/CTA.2021.00637
中图分类号：
学科分类号：
摘要：
To solve the problem of low path planning efficiency of manipulator in high-dimensional joint space, a path planning method is proposed based on Sobol sequence and rapidly exploring random tree (RRT) algorithm. The proposed method firstly adopts Sobol sequences to replace the pseudo-random sequences for generating uniformly different sampling points in RRT. Secondly, a sampling pool is built to obtain the optimal sampling points during the sampling process, which improves the sampling quality and efficiency. Aiming at smoothing the planned path, a least square based polynomial fitting method is employed to fit the discrete points of each joint angle. The performance of the proposed method is evaluated in the two-dimensional space, and the results indicate that the improved method can quickly and steadily avoid obstacles to reach the target point. Finally, using AUBO-i5 manipulator as the prototype, the experimental study is carried out to verify the advantages of the proposed method in the application of the manipulator. © 2022, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：130 / 144
页数：14
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