Mechanical arm motion planning method for improving bidirectional RRT algorithm

Abstract

The invention discloses a mechanical arm motion planning method for improving a bidirectional RRT algorithm. The method integrates the traditional bidirectional RRT algorithm, an optimal searching mode of a parent node is introduced and a connecting mode of a node is updated, the distance of the mechanical arm path planning is greatly reduced, the searching speed of the bidirectional RRT algorithmcan be guaranteed and an optimal path is planned; and the target position of a mechanical arm is given and the obstacle information in the environment is acquired, a collision-free path is planned byadopting an improved bidirectional RRT algorithm, and the mechanical arm moves to the target position according to the planned path, so that the motion planning of the mechanical arm on the basis ofthe improved bidirectional RRT algorithm is completed. According to the mechanical arm motion planning method for improving the bidirectional RRT algorithm, the improved bidirectional RRT algorithm isadopted, so that the planning path cost can be greatly reduced, the optimal path is planned for the mechanical arm, and the problem that the motion path is not optimal is solved; and the method not only is suitable for motion planning research of mechanical arms in a high-dimensional space, but also can be applied to the field of mobile robots, and has a wide application prospect.

Description

technical field [0001] The invention relates to the field of mechanical arm motion planning, in particular to a mechanical arm motion planning method with improved bidirectional RRT algorithm. Background technique [0002] Robot motion planning is a basic problem in the field of robotics research, that is, to find a path for the robot that meets the constraints between a given starting position and a target position. Early robot motion planning methods directly regard the robot as a particle, while the robotic arm is irregular and cannot be directly regarded as a particle in the state space, so most motion planning methods for mobile robots cannot be directly extended to the mechanical arm. [0003] The obstacle avoidance planning goal of the manipulator is to plan an optimal path that meets the needs. To solve this problem, artificial potential field method, A* search method, genetic algorithm, C space method, ant colony algorithm, etc. have been proposed, but these Algori...

AI Technical Summary

Problems solved by technology

This method adopts the improved two-way RRT algorithm, which can greatly reduce the planned path cost, plan an optimized path for the manipulator, and solve the problem that the motion path is not optimal

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