期刊论文

Obstacle avoidance path planning for harvesting robot arm based on improved PRM

中文

传感器与微系统

2096-2436

2019

38

1

52-56

10.13873/J.1000-9787(2019)01-0052-05

湖南省高校科技创新团队支持计划资助项目(2014207) 湖南省科技计划重点研发资助项目(2016NK2142).

本校为第一机构

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 p...