基于改进RRT算法的机械臂路径规划仿真

Simulation of Robotic Arm Path Planning Based on Improved RRT Algorithm

摘要: 快速随机扩展树(RRT)算法在机械臂路径规划过程中规划路径过程耗时长，规划方式具有的随机性，在实际的生产过程中严重影响路径规划的效率，因此对于RRT算法的改进成为了路径规划算法的重要研究方向。文中采用高斯采样的策略对RRT算法进行改进，提出了具有方向性搜索策略的改进RRT算法并应用于六自由度机械臂的路径规划上。通过MATLAB平台进行机械臂的避障仿真实验。通过实验结果表明，改进RRT算法可以有效的节约搜索时间，并提高路径规划的成功率，也为机械臂路径规划的控制提供一些思路。

Abstract: Rapid Randomized Expanded Tree (RRT) algorithm in the robotic arm path planning process planning path process is time-consuming, the randomness of the planning method, in the actual production process seriously affects the efficiency of path planning, so the improvement of RRT algorithm has become an important research direction of path planning algorithms. In this paper, the Gaussian sampling strategy is used to improve the RRT algorithm, and the improved RRT algorithm with directional search strategy is proposed and applied to the path planning of six-degree- of-freedom robotic arm. The simulation experiment of obstacle avoidance of the robotic arm is carried out by MATLAB platform. The experimental results show that the improved RRT algorithm can effectively save search time and improve the success rate of path planning, and also provide some ideas for the control of robotic arm path planning.