基于改进PRM的采摘机器人机械臂避障路径规划
|
摘要
针对采摘机器人机械臂在不确定的环境中进行采摘作业的要求,提出了一种基于改进概率地图(PRM)算法的机械臂避障路径规划方法。将机械臂工作空间分割成离散单元集合,通过遍历的方法,获得机械臂工作空间中任意离散单元与机械臂有撞位姿之间的映射关系。将空间障碍物分割成离散单元,并通过索引映射关系获得与障碍物有撞的所有机械臂位姿信息,并以此建立关节构形空间。通过PRM算法在关节构形空间中快速搜索机械臂避障路径。仿真结果表明:相比传统PRM算法,改进算法速度提高22. 2%,能够有效地实现机械臂无碰撞路径规划。
Aiming at requirement of harvesting robot arm in uncertain environments,a kind of obstacle avoidance path planning algorithm for robot arm based on improved probabilistic roadmap( PRM) algorithm is proposed.Workspace of the robot arm is divided into discretized unit set,mapping relationship between arbitary discrete element and collision position in workspace is obtained by traversal method. The obstacles are also divided into discretized units,collision position information is obtained,by indexing the mapping relationship,and the joint configuration space is constructed. Obstacle avoidance path of robot arm is quickly searched by PRM algorithm in joint configuration space. The simulation results show that compared with traditional PRM algorithm,the improved algorithm improves speed about 22. 2 %,it can effectively realize collision-free path planning of robot arm.
Aiming at requirement of harvesting robot arm in uncertain environments,a kind of obstacle avoidance path planning algorithm for robot arm based on improved probabilistic roadmap( PRM) algorithm is proposed.Workspace of the robot arm is divided into discretized unit set,mapping relationship between arbitary discrete element and collision position in workspace is obtained by traversal method. The obstacles are also divided into discretized units,collision position information is obtained,by indexing the mapping relationship,and the joint configuration space is constructed. Obstacle avoidance path of robot arm is quickly searched by PRM algorithm in joint configuration space. The simulation results show that compared with traditional PRM algorithm,the improved algorithm improves speed about 22. 2 %,it can effectively realize collision-free path planning of robot arm.
引文
[1]黄献龙,梁斌,吴宏鑫.机器人避碰规划综述[J].航天控制,2002,20(1):34-40.
[2] Lavalle S M. Planning algorithm[M]. Cambridge,UK:Cambridge University Press,2006:127-180.
[3] Lozano-Perez T. Spatial planning:A configuration space approach[J]. IEEE Transaction on Computers,1983,C-32(2):108-120.
[4]孙丰财,张亚楠,史旭华.改进的快速扩展随机树路径规划算法[J].传感器与微系统,2017,36(9):129-131.
[5]王春华,邱立鹏,潘德文.改进蚁群算法的机器人焊接路径规划[J].传感器与微系统,2017,36(2):75-77.
[6]祁若龙,周维佳,王铁军,等.一种基于遗传算法的空间机械臂避障轨迹规划方法[J].机器人,2014,36(3):263-270.
[7]宗成星,陆亮,雷新宇,等.一种基于A*算法的空间多自由度机械臂路径规划方法[J].合肥工业大学学报:自然科学版,2017,40(2):164-168.
[8] Van Henten E J,Hemming J,Van Tuijl B A J,et al. Collisionfree motion planning for a cucumber picking robot[J]. Biosystems Engineering,2003,86(2):135-144.
[9] Kavraki L E,vestka Petr,Latombe J C,et al. Probabilistic roadmaps for path planning in high-dimensional configuration spaces[J]. IEEE Transactions on Robotics&Automation,1994,12(4):566-580.
[10]阳涵疆,李立君,高自成.基于关节构形空间的混联采摘机械臂避障路径规划[J].农业工程学报,2017,33(4):55-62.
[11]刘成菊,韩俊强,安康.基于改进RRT算法的RoboCup机器人动态路径规划[J].机器人,2017(1):8-15.
[12] Janson L,Schmerling E,Clark A,et al. Fast marching tree:A fast marching sampling-based method for optimal motion planning in many dimensions[J]. The International Journal of Robotics Research,2015,34(7):883-921.
[13]谢碧云,赵京,刘宇.基于快速扩展随机树的7R机械臂避障达点运动规划[J].机械工程学报,2012,48(3):63-69.
[14]贾庆轩,陈钢,孙汉旭,等.基于A*算法的空间机械臂避障路径规划[J].机械工程学报,2010,46(13):109-115.
[15]蔡健荣,赵杰文,Thomas R,等.水果收获机器人避障路径规划[J].农业机械学报,2007,38(3):102-105,135.
[16] Gottschalk S,Lin M C,Manocha D. OBBTree:A hierarchical structure for rapid interference detection[C]∥Conference on Computer Graphics and Interactive Techniques,ACM,1997:171-180.
[2] Lavalle S M. Planning algorithm[M]. Cambridge,UK:Cambridge University Press,2006:127-180.
[3] Lozano-Perez T. Spatial planning:A configuration space approach[J]. IEEE Transaction on Computers,1983,C-32(2):108-120.
[4]孙丰财,张亚楠,史旭华.改进的快速扩展随机树路径规划算法[J].传感器与微系统,2017,36(9):129-131.
[5]王春华,邱立鹏,潘德文.改进蚁群算法的机器人焊接路径规划[J].传感器与微系统,2017,36(2):75-77.
[6]祁若龙,周维佳,王铁军,等.一种基于遗传算法的空间机械臂避障轨迹规划方法[J].机器人,2014,36(3):263-270.
[7]宗成星,陆亮,雷新宇,等.一种基于A*算法的空间多自由度机械臂路径规划方法[J].合肥工业大学学报:自然科学版,2017,40(2):164-168.
[8] Van Henten E J,Hemming J,Van Tuijl B A J,et al. Collisionfree motion planning for a cucumber picking robot[J]. Biosystems Engineering,2003,86(2):135-144.
[9] Kavraki L E,vestka Petr,Latombe J C,et al. Probabilistic roadmaps for path planning in high-dimensional configuration spaces[J]. IEEE Transactions on Robotics&Automation,1994,12(4):566-580.
[10]阳涵疆,李立君,高自成.基于关节构形空间的混联采摘机械臂避障路径规划[J].农业工程学报,2017,33(4):55-62.
[11]刘成菊,韩俊强,安康.基于改进RRT算法的RoboCup机器人动态路径规划[J].机器人,2017(1):8-15.
[12] Janson L,Schmerling E,Clark A,et al. Fast marching tree:A fast marching sampling-based method for optimal motion planning in many dimensions[J]. The International Journal of Robotics Research,2015,34(7):883-921.
[13]谢碧云,赵京,刘宇.基于快速扩展随机树的7R机械臂避障达点运动规划[J].机械工程学报,2012,48(3):63-69.
[14]贾庆轩,陈钢,孙汉旭,等.基于A*算法的空间机械臂避障路径规划[J].机械工程学报,2010,46(13):109-115.
[15]蔡健荣,赵杰文,Thomas R,等.水果收获机器人避障路径规划[J].农业机械学报,2007,38(3):102-105,135.
[16] Gottschalk S,Lin M C,Manocha D. OBBTree:A hierarchical structure for rapid interference detection[C]∥Conference on Computer Graphics and Interactive Techniques,ACM,1997:171-180.