改进RRT算法的机械臂避障路径规划研究

doi:10.3778/j.issn.1002-8331.2407-0265

摘要/Abstract

摘要： 针对RRT算法应用在六轴机械臂上进行三维避障路径规划时，存在搜索空间过大、计算时间过长等规划效率问题，提出了一种改进算法。使用自适应步长策略，确定给定地图环境下适合的全局初始步长，使用目标偏置策略来使得采样点有一定几率设置为目标点，减少采样点随机性；融入目标引力概念提高算法的目标导向性，使引力系数可自适应调节，结合近障碍物的动态步长策略，提高算法在复杂环境中的探索能力和整体效率；使用剪枝优化策略对初始路径进行冗余点去除，并采用三次B样条曲线来对剪枝优化后路径进行平滑处理。通过仿真实验，改进的算法与RRT算法、目标概率偏置RRT、RRT*算法、双采样点引力RRT算法进行了比较，改进算法在规划时间、路径长度和路径节点数量方面均占优势,有效提升了机械臂避障路径规划的效率和质量。

关键词: 六轴机械臂, RRT算法, 目标概率偏置RRT, RRT*算法, 三维避障路径规划

Abstract: An improved algorithm is proposed for the planning efficiency problems such as too large search space and too long computation time when the RRT algorithm is applied to the six-axis robotic arm for three-dimensional obstacle avoidance path planning. Firstly, the adaptive step size strategy is used to determine the suitable global initial step size under the given map environment, and the target bias strategy is used to make the sampling points have a certain chance to be set as the target points and reduce the randomness of the sampling points. Then, the concept of target gravity is incorporated to improve the goal orientation of the algorithm, enabling the gravity coefficient to be adaptively adjusted. When the algorithm is combined with the dynamic step size strategy near obstacles, its exploration ability and overall efficiency in complex environments are improved. Finally, the pruning optimization strategy is used to remove redundant points on the initial path, and a cubic B-spline curve is used to smooth the path after pruning optimization. Through simulation experiments, the improved algorithm in this paper is compared with RRT algorithm, target probability bias RRT algorithm, RRT* algorithm and double sampling point gravity RRT algorithm. The improved algorithm is superior in terms of planning time, path length and number of path nodes, which effectively improves the efficiency and quality of obstacle avoidance path planning of the robot arm.

Key words: six-axis mechanical arm, RRT algorithm, target probability bias RRT, RRT* algorithm, three-dimensional obstacle avoidance path planning

李子建, 高焕兵, 王雪秋. 改进RRT算法的机械臂避障路径规划研究[J]. 计算机工程与应用, 2025, 61(8): 307-314.

LI Zijian, GAO Huanbing, WANG Xueqiu. Research on Obstacle Avoidance Path Planning for Robotic Arms Using Improved RRT Algorithm[J]. Computer Engineering and Applications, 2025, 61(8): 307-314.

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