[1]欧阳云,高振国,范丽玲,等.采用RSPM-PS算法的机械手末端避障路径规划[J].华侨大学学报(自然科学版),2023,44(3):290-300.[doi:10.11830/ISSN.1000-5013.202207010]
 OUYANG Yun,GAO Zhenguo,FAN Liling,et al.Obstacle-Avoidance Path Planning of Manipulator End Using RSPM-PS Algorithm[J].Journal of Huaqiao University(Natural Science),2023,44(3):290-300.[doi:10.11830/ISSN.1000-5013.202207010]
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采用RSPM-PS算法的机械手末端避障路径规划()
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《华侨大学学报(自然科学版)》[ISSN:1000-5013/CN:35-1079/N]

卷:
第44卷
期数:
2023年第3期
页码:
290-300
栏目:
出版日期:
2023-05-12

文章信息/Info

Title:
Obstacle-Avoidance Path Planning of Manipulator End Using RSPM-PS Algorithm
文章编号:
1000-5013(2023)03-0290-11
作者:
欧阳云12 高振国12 范丽玲12 王继斌12 蒋坤良12
1. 华侨大学 计算机科学与技术学院, 福建 厦门 361021;2. 华侨大学 计算机视觉与机器学习重点实验室, 福建 厦门 361021
Author(s):
OUYANG Yun12 GAO Zhenguo12 FAN Liling12 WANG Jibin12 JIANG Kunliang12
1. College of Computer Science and Technology, Huaqiao University, Xiamen 361021, China; 2. Key Laboratory of Computer Vision and Machine Learning, Huaqiao University, Xiamen 361021, China
关键词:
工业机器人 避障路径规划 分段点迁移递归 递进约简 路径优化
Keywords:
industrial robot obstacle-avoidance path planning recursive segmentation point migration progressive simplification path optimization
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.202207010
文献标志码:
A
摘要:
为解决工业机器人机械手末端避障路径规划需要花费大量时间,且规划的路径可能会包含大量冗余分段点的问题,提出一种基于分段点迁移递归(RSPM)和递进约简(PS)的机械手末端避障路径规划方法.通过RSPM算法可以在碰撞段上形成分段点并进行迁移,进而递归处理各分段路径,得到一条无碰撞基础路径.通过PS算法可以去除基础路径上的冗余分段点,得到最终路径.结果表明:RSPM-PS算法能快速规划更短的基础路径且能快速有效缩短路径长度.
Abstract:
It takes a lot of time to solve the obstacle avoidance path planning of industrial robot manipulator end and the planning path may contain a large number of redundant segmentation points, an obstacle-avoidance path planning method of manipulator end based on recursive segmentation point migration(RSPM)and progressive simplification(PS)is proposed. Through the RSPM algorithm, the segmentation points on the collision segment can be formed and migrated, and then the segmentation paths are recursively processed to obtain a collision-free basic path. The redundant segmentation points on the basic path can be removed by the PS algorithm to obtain the final path. The results show that the RSPM-PS algorithm can quickly plan a shorter basic path, also can quickly and effectively shorten the path length.

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备注/Memo

备注/Memo:
收稿日期: 2022-07-04
通信作者: 高振国(1976-),男,教授,博士,博士生导师,主要从事智能制造、机器视觉、无线自组网络、无线电网络和网络编码的研究.E-mail:gaohit@sina.com.
基金项目: 国家自然科学基金资助项目(61972166); 福建省高校产学合作项目(2021H6030); 福建省高校重点实验室基金资助项目(201910)http://www.hdxb.hqu.edu.cn
更新日期/Last Update: 2023-05-20