基于稀疏节点快速扩展随机树的移动机械臂运动规划

doi:10.3969/j.issn.1004-132X.2021.12.010

中国机械工程 ›› 2021, Vol. 32 ›› Issue (12): 1462-1470.DOI: 10.3969/j.issn.1004-132X.2021.12.010

基于稀疏节点快速扩展随机树的移动机械臂运动规划

李耀仲1;王书亭1;蒋立泉1;孟杰1;谢远龙1,2

1.华中科技大学机械科学与工程学院，武汉，430074
2.广东省智能机器人研究院，东莞，523808

出版日期:2021-06-25 发布日期:2021-07-08
通讯作者: 谢远龙（通信作者），男，1990年生，助理研究员。研究方向为移动机器人、机械臂及运动控制等。发表论文50余篇。E-mail：yuanlongxie@hust.edu.cn。
作者简介:李耀仲，男，1994年生，硕士研究生。研究方向为移动机器人及轨迹规划等。 E-mail:liyz@hust.edu.cn。
基金资助:
广东省基础与应用基础研究基金（2020A1515110464,2021A1515012409）；
广东省引进创新创业团队计划（2019ZT08Z780）

Motion Planning of Mobile Manipulators Based on RRT with Sparse Nodes

LI Yaozhong1;WANG Shuting1;JIANG Liquan1;MENG Jie1;XIE Yuanlong1,2

1.School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,430074
2.Guangdong Intelligent Robotics Institute,Dongguan,Guangdong,523808

Online:2021-06-25 Published:2021-07-08

摘要/Abstract

摘要： 针对传统移动机械臂运动规划未考虑停靠误差、规划效率低等问题，提出一种基于稀疏节点快速扩展随机树的移动机械臂运动规划方法。研究了停靠误差对移动机械臂运动规划的影响，制定了基于坐标转换的误差补偿措施。针对快速扩展随机树算法在局部空间中过度搜索的问题，改进回归过滤机制，避免了节点重复扩展。考虑边界节点的有效性，提出了随机点边界扩展机制以缩短碰撞检测时间。实验结果表明所提方法提高了运动规划效率。

关键词: 移动机械臂, 运动规划, 快速扩展随机树, 误差补偿

Abstract: Traditional motion planning of mobile manipulators had problems such as without considering docking errors and low efficiency. A novel motion planning method of mobile manipulators was proposed based on RRT with sparse nodes. Influences of positioning errors for the mobile platforms on motion planning were analyzed, and an error compensation method was developed based on coordinate transformation. Aiming at addressing excessive searching in local spaces by RRT algorithm, a regression filtering mechanism was improved to avoid repeated expansion of nodes. Then, considering validity of boundary nodes, the random point boundary extension mechanism was proposed to greatly decrease collision detection time. Experimental results demonstrate that the proposed algorithm improves efficiency of motion planning.

Key words: mobile manipulator, motion planning, rapidly-exploring random tree(RRT) , error compensation

中图分类号:

TP242.6

李耀仲, 王书亭, 蒋立泉, 孟杰, 谢远龙, . 基于稀疏节点快速扩展随机树的移动机械臂运动规划[J]. 中国机械工程, 2021, 32(12): 1462-1470.

LI Yaozhong, WANG Shuting, JIANG Liquan, MENG Jie, XIE Yuanlong, . Motion Planning of Mobile Manipulators Based on RRT with Sparse Nodes[J]. China Mechanical Engineering, 2021, 32(12): 1462-1470.

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http://www.cmemo.org.cn/CN/Y2021/V32/I12/1462

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基于稀疏节点快速扩展随机树的移动机械臂运动规划

Motion Planning of Mobile Manipulators Based on RRT with Sparse Nodes

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