CASIA OpenIR  > 智能制造技术与系统研究中心  > 先进制造与自动化
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
Source PublicationIEEE ACCESS
ISSN2169-3536
2018
Volume6Pages:53296-53306
Corresponding AuthorYu, Junzhi(junzhi.yu@ia.ac.cn)
AbstractWith 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.
KeywordRapidly-exploring random tree (RRT) path planning industrial robot obstacle avoidance collision-free
DOI10.1109/ACCESS.2018.2871222
WOS KeywordCONFIGURATION-SPACE ; MOTION ; TASK ; MANIPULATORS ; SYSTEM
Indexed BySCI
Language英语
Funding ProjectMajor 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]
Funding OrganizationMajor Science and Technology Project of Henan Province ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS Research AreaComputer Science ; Engineering ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000448001300001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22397
Collection智能制造技术与系统研究中心_先进制造与自动化
Corresponding AuthorJUNZHI YU
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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