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一种改进 RRT* 结合四次样条的协调路径规划方法

余敏 罗建军 王明明 高登巍

余敏, 罗建军, 王明明, 高登巍. 一种改进 RRT* 结合四次样条的协调路径规划方法[J]. 力学学报, 2020, 52(4): 1024-1034. doi: 10.6052/0459-1879-20-074
引用本文: 余敏, 罗建军, 王明明, 高登巍. 一种改进 RRT* 结合四次样条的协调路径规划方法[J]. 力学学报, 2020, 52(4): 1024-1034. doi: 10.6052/0459-1879-20-074
Yu Min, Luo Jianjun, Wang Mingming, Gao Dengwei. COORDINATED PATH PLANNING BY INTEGRATING IMPROVED RRT* AND QUARTIC SPLINE[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(4): 1024-1034. doi: 10.6052/0459-1879-20-074
Citation: Yu Min, Luo Jianjun, Wang Mingming, Gao Dengwei. COORDINATED PATH PLANNING BY INTEGRATING IMPROVED RRT* AND QUARTIC SPLINE[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(4): 1024-1034. doi: 10.6052/0459-1879-20-074

一种改进 RRT* 结合四次样条的协调路径规划方法

doi: 10.6052/0459-1879-20-074
基金项目: 1)深圳市科技研发资金(JCYJ20190806154412671);国家自然科学基金(61973256);国家自然科学基金(61690211);西北工业大学博士论文创新基金(CX202019)
详细信息
    通讯作者:

    王明明

  • 中图分类号: V448.2

COORDINATED PATH PLANNING BY INTEGRATING IMPROVED RRT* AND QUARTIC SPLINE

  • 摘要: 针对空间机器人抓捕空间非合作目标的在轨服务任务,同时考虑机器人运动学约束和动力学约束,提出一种分层式的自由漂浮双臂空间机器人协调路径规划方法. 首先,在路径规划层面上基于 RRT* 算法分别规划双臂末端执行器在笛卡尔空间下的初始可行路径,为双臂设置独立的采样空间,保证路径规划过程中双臂系统不发生自身碰撞. 然后,在轨迹规划层面上利用四次样条曲线平滑 RRT* 算法生成的初始路径,设计满足样条曲线的一阶、二阶及三阶微分连续约束,同时考虑机械臂末端执行器的初末速度约束条件、初始加速度约束条件,得到适合于空间机器人执行的动力学可行的平滑 轨迹.最后,计算所规划路径的最大速度、最大加速度与机械臂末端执行器物理极限值的比值,取最小上限,即为最少路径规划时间. 所提路径规划方法能够设计出满足特定路径点约束的协调路径,且所设计的路径考虑了机械臂的物理限制条件,通过对自由漂浮双臂空间机器人进行仿真试验,验证了所提路径规划算法的有效性.

     

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出版历程
  • 收稿日期:  2020-03-05
  • 刊出日期:  2020-08-10

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