基于改进 RRT 的筒子纱搬运机械臂路径规划研究.

This paper proposed an improved RRT（Rapidly-Explorative Random Tree） algorithm to solve the problem that the traditional target offset RRT was easy to fall into local optimum in the environment where there were many obstacles such as yarn racks, placing platforms and other packages during the package handling process. The collision detection model was established by geometric envelope method, and the distance coefficient g was added to keep a safe distance between the end of the manipulator and the obstacle; A random action selection strategy was proposed to select the expansion action before each expansion of the tree; A weakening target offset strategy was proposed to offset the extension direction according to the position of Xgoal relative to the Xnear and Xrand line; According to the vertical distance limit method and cubic spline interpolation, the initial path was optimized, and finally a smooth path was obtained. Through simulation comparison with RRT algorithm, M-RRT algorithm, RRT algorithm with added gravity coefficient and Improved RRT * algorithm, the maximum decrease in path length was 23.3%, the maximum decrease in time was 82.5%, and the distance from obstacles was always more than 50 mm. The results show that the algorithm improves the efficiency and safety of the manipulator handling. [ABSTRACT FROM AUTHOR]