Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments
HAOJIAN ZHANG1,2; YUNKUAN WANG1,2; JUN ZHENG1,2; JUNZHI YU1,2
发表期刊IEEE ACCESS
ISSN2169-3536
2018
卷号6页码:53296-53306
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要With the development of modern manufacturing industry, the application scenarios of industrial robot are becoming more and more complex. Manual programming of industrial robot requires a great deal of effort and time. Therefore, an autonomous path planning is an important development direction of industrial robot. Among the path planning methods, the rapidly-exploring random tree (RRT) algorithm based on random sampling has been widely applied for a high-dimensional robotic manipulator because of its probability completeness and outstanding expansion. However, especially in the complex scenario, the existing RRT planning algorithms still have a low planning efficiency and some are easily fall into a local minimum. To tackle these problems, this paper proposes an autonomous path planning method for the robotic manipulator based on an improved RRT algorithm. The method introduces regression mechanism to prevent over-searching configuration space. In addition, it adopts an adaptive expansion mechanism to continuously improve reachable spatial information by refining the boundary nodes in joint space, avoiding repeatedly searching for extended nodes. Furthermore, it avoids the unnecessary iteration of the robotic manipulator forward kinematics solution and its time-consuming collision detection in Cartesian space. The method can rapidly plan a path to a target point and can be accelerated out of a local minimum area to improve path planning efficiency. The improved RRT algorithm proposed in this paper is simulated in a complex environment. The results reveal that the proposed algorithm can significantly improve the success rate and efficiency of the planning without losing other performance.
关键词Rapidly-exploring random tree (RRT) path planning industrial robot obstacle avoidance collision-free
DOI10.1109/ACCESS.2018.2871222
关键词[WOS]CONFIGURATION-SPACE ; MOTION ; TASK ; MANIPULATORS ; SYSTEM
收录类别SCI
语种英语
资助项目Major Science and Technology Project of Henan Province[161100210300] ; National Natural Science Foundation of China[NSFC 61633020] ; National Natural Science Foundation of China[NSFC 61725305] ; Beijing Natural Science Foundation[4161002]
项目资助者Major Science and Technology Project of Henan Province ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS研究方向Computer Science ; Engineering ; Telecommunications
WOS类目Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号WOS:000448001300001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22397
专题智能制造技术与系统研究中心_先进制造与自动化
通讯作者JUNZHI YU
作者单位1.中国科学院自动化研究所
2.中国科学院大学
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
HAOJIAN ZHANG,YUNKUAN WANG,JUN ZHENG,et al. Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments[J]. IEEE ACCESS,2018,6:53296-53306.
APA HAOJIAN ZHANG,YUNKUAN WANG,JUN ZHENG,&JUNZHI YU.(2018).Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments.IEEE ACCESS,6,53296-53306.
MLA HAOJIAN ZHANG,et al."Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments".IEEE ACCESS 6(2018):53296-53306.
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