摘要
针对目前机械臂路径规划需要人工提前进行示教编程的问题,本文使用Informed RRT*算法应用于机械臂的自动路径规划中,并且利用Dubins曲线策略处理Informed RRT*的轨迹,解决了RRT类算法生成的轨迹存在不稳定和尖锐的这两大缺点,并且在计算机软件上进行仿真测试,验证Dubins-Informed RRT*算法应用于机械臂的自动路径规划是可行的。
In view of the problem that the robot arm path planning needs to be taught in advance,the Informed RRT* algorithm is applied to the automatic path planning of the robot arm,and the Dubins curve strategy is used to process the Informed RRT* trajectory,which solves the two disadvantages of the trajectory generated by RRT* algorithm:instability and sharpness,and simulation tests are performed on computer software.It is feasible to verify that the Dubins-Informed RRT* algorithm is applied to the automatic path planning of the robot arm.
作者
周恒旭
程勇
刘伟才
ZHOU Heng-xu;CHENG Yong;LIU Wei-cai(School of Automation,Foshan University of Science and Technology,Foshan 528000 China)
出处
《自动化技术与应用》
2020年第10期67-74,共8页
Techniques of Automation and Applications
