Improved path optimization method for RRT algorithm

Abstract

The present invention provides an improved path optimization method for an RRT algorithm. The method introduces a filter method and an adaptive expansion method of invalid waypoints into the RRT algorithm so as to fill a local minimum quickly and avoid searching a configuration space excessively, and continuously improves the reachable spatial information by reconstructing the boundary points in a united space so as to avoid repeatedly expanding the invalid waypoints, thereby improving search efficiency and shortening the time. The method allows a path planning algorithm to jump out of a local minimum area quickly and to approach a target area quickly.

Description

technical field [0001] The invention belongs to the path planning field of industrial robots, in particular to a path optimization method which introduces an invalid waypoint filtering method and an self-adaptive expansion method for the RRT algorithm. Background technique [0002] With the development of modern manufacturing industry, industrial robots have been widely used in many fields, such as integrated circuits, automobile food and other automated production lines. However, due to the wide range of applications, the programming technology of industrial robots faces many new challenges; for many complex tasks, traditional online programming and offline programming methods need to spend a lot of time and effort, and cannot guarantee satisfactory results; therefore, Autonomous path planning of industrial robots has become an urgent need. [0003] Over the years, robot path planning has gained a lot of attention in robotics research, and its related algorithms are also v...

AI Technical Summary

Problems solved by technology

[0005] (1) In the expansion process of the random tree, the problem of repeating to the same waypoint is not considered, which greatly reduces the efficiency of path expansion;

[0006] (2) In the expansion process of the random tree, whether the waypoint will collide with obstacles in the future expansion process is not considered, and if a collision occurs, the path expansion time will be increased;

The shortcomings of this method are: the efficiency of the expansion process is not considered, and a large number of invalid waypoints are expanded to reduce the efficiency of path planning.

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