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由于基本快速扩展随机树(RRT)算法分支数量多,随机性强等问题,提出了一种改进的RRT算法.主要研究三维(3D)避障工作空间中串联机械手的路径规划问题.为了快速有效避开障碍物,窗口RRT算法引入了平面墙和窗口函数,使其不仅可以与环境约束相结合,而且同一任务路径规划相同.在蒙特卡洛法工作空间中进行窗口RRT算法的路径规划.最后,通过在MATLAB上进行相关仿真实验,验证算法的准确性和有效性.“,”Because there is some shortcomings in basic Rapidly-exploring Random Tree (RRT) algorithm such as a great quantity of branches,strong randomness,this paper presents an improved RRT.This paper mainly deals with the path planning of a series manipulator in three-dimensional (3D) obstacle avoidance workspace.For avoiding obstacles acutely and effectively,the wall plane and Window function are introduced the Window RRT (shorted as Win_RRT) algorithm.The Win_RRT algorithm can not only combine with environmental constraints,but also generate the identical path for the same environment.The path is found by the Win_RRT algorithm in the obstacle avoidance workspace of Monte Carlo.Finally,the accuracy and effectiveness of the algorithm are proved by a manipulator example on MATLAB.