Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT

Peng Peng; Zhian Zhang; Xuegong Huang

doi:10.16578/j.issn.1004.2539.2022.04.007

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Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT

Theory·Reserach | 更新时间：2022-09-25

- Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT
- Journal of Mechanical Transmission Vol. 46, Issue 4, Pages: 48-54(2022)
- 作者机构：
  
  1.南京理工大学机械工程学院，江苏南京 210094
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.04.007
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彭鹏,张志安,黄学功.基于APF-RRT的双机械臂动态避障路径规划[J].机械传动,2022,46(04):48-54.

Peng Peng,Zhang Zhian,Huang Xuegong.Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT[J].Journal of Mechanical Transmission,2022,46(04):48-54.
彭鹏,张志安,黄学功.基于APF-RRT的双机械臂动态避障路径规划[J].机械传动,2022,46(04):48-54. DOI： 10.16578/j.issn.1004.2539.2022.04.007.

Peng Peng,Zhang Zhian,Huang Xuegong.Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT[J].Journal of Mechanical Transmission,2022,46(04):48-54. DOI： 10.16578/j.issn.1004.2539.2022.04.007.

摘要

针对传统人工势场法（Artificial potential field method，APF）在6自由度双机械臂系统避障路径规划中容易陷入局部极小值这一缺陷，提出了一种改进APF与改进快速扩展随机树算法（Rapidly-exploring random trees，RRT）相结合进行避障路径规划的方法。分析了双机械臂的工作空间，确认了双臂干涉的可能性。对于双机械臂的路径规划，利用改进后的APF对主机械臂进行路径规划，并将其作为从机械臂的动态障碍物，为从机械臂规划运动路径；利用改进后的RRT自适应地选择临时目标点，解决了从机械臂路径规划时陷入局部极小值的问题；利用改进的APF对从机械臂的剩余路径进行了规划。仿真分析表明，改进后的APF-RRT算法能比传统算法更加快速准确地解决双臂系统的避障路径规划问题。

Abstract

Aiming at the defect that the traditional artificial potential field method（APF） is easy to fall into the local minimum in the obstacle avoidance path planning of the 6-DOF dual-manipulator system，an improved APF algorithm combined with an improved rapidly-exploring random trees（RRT） algorithm is proposed for obstacle avoidance path planning. The working space of the dual-manipulator system is analyzed，and the possibility of the interference of the dual-manipulator system is confirmed. For the path planning of the dual-manipulator，the improved APF is used to plan the path of the main manipulator，and it is used as the dynamic obstacle of the slave manipulator to plan the motion path of the slave manipulator. The improved RRT is used to adaptively select the temporary target points to solve the problem of falling into the local minimum when planning the path of the slave manipulator. The improved APF is used to plan the remaining path of the slave manipulator. Simulation analysis shows that the improved APF-RRT algorithm can solve the obstacle avoidance path planning problem of the dual-manipulator system more quickly and accurately than the traditional algorithm.

关键词

双机械臂人工势场法快速扩展随机树路径规划局部极小值临时目标点

Keywords

Dual-manipulatorArtificial potential fieldRRTPath planningLocal minimumTemporary target point

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