| 引用本文: | 代伟,李创业,杨春雨,马小平.基于低差异序列与快速扩展随机树融合算法的 机械臂路径规划[J].控制理论与应用,2022,39(1):130~144.[点击复制] |
| DAI Wei,LI Chuang-ye,YANG Chun-yu,MA Xiao-ping.Manipulator path planning using fusion algorithm of low difference sequence and rapidly exploring random tree[J].Control Theory and Technology,2022,39(1):130~144.[点击复制] |
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| 基于低差异序列与快速扩展随机树融合算法的 机械臂路径规划 |
| Manipulator path planning using fusion algorithm of low difference sequence and rapidly exploring random tree |
| 摘要点击 1660 全文点击 576 投稿时间：2020-09-22 修订日期：2021-05-19 |
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| DOI编号 10.7641/CTA.2021.00637 |
| 2022,39(1):130-144 |
| 中文关键词 机械臂 路径规划 低差异序列 快速扩展随机树 采样池 |
| 英文关键词 manipulator path planning low difference sequence rapidly exploring random tree sampling pool |
| 基金项目 国家自然科学基金项目(61973306, 61873272), 江苏省自然科学基金项目(BK20200086), 中国博士后科学基金项目(2018T110571)资助. |
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| 中文摘要 |
| 针对机械臂在高维关节空间下路径规划效率低的问题, 本文提出了一种基于低差异序列与快速扩展随机
树融合的路径规划算法. 该方法首次使用Sobol序列代替快速扩展随机树中的伪随机序列, 从而生成均匀差异采样
点, 且在采样过程中通过建立采样池对采样点进行优选, 提高了采样点质量和采样效率. 在此基础上, 为使规划的路
径变得光滑, 本文采用基于最小二乘法的多项式拟合方法对各关节角的离散点进行后处理. 实验部分首先在二维
空间中进行算法性能分析, 证明了本文改进的算法能够快速稳定的避开障碍物到达目标点; 最后以AUBO–i5机械
臂为原型开展了实验研究, 验证了所提算法在机械臂上应用的优势. |
| 英文摘要 |
| 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. |
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