Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments

doi:10.1109/ACCESS.2018.2871222

CORC > 自动化研究所 > 中国科学院自动化研究所 > 智能制造技术与系统研究中心 > 先进制造与自动化团队

	Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments
	HAOJIAN ZHANG1,2 ; YUNKUAN WANG1,2 ; JUN ZHENG1,2 ; JUNZHI YU1,2
刊名	IEEE ACCESS
	2018
卷号	6 页码:53296-53306
关键词	Rapidly-exploring random tree (RRT) path planning industrial robot obstacle avoidance collision-free
ISSN号	2169-3536
DOI	10.1109/ACCESS.2018.2871222
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	With the development of modern manufacturing industry, the application scenarios of industrial robot are becoming more and more complex. Manual programming of industrial robot requires a great deal of effort and time. Therefore, an autonomous path planning is an important development direction of industrial robot. Among the path planning methods, the rapidly-exploring random tree (RRT) algorithm based on random sampling has been widely applied for a high-dimensional robotic manipulator because of its probability completeness and outstanding expansion. However, especially in the complex scenario, the existing RRT planning algorithms still have a low planning efficiency and some are easily fall into a local minimum. To tackle these problems, this paper proposes an autonomous path planning method for the robotic manipulator based on an improved RRT algorithm. The method introduces regression mechanism to prevent over-searching configuration space. In addition, it adopts an adaptive expansion mechanism to continuously improve reachable spatial information by refining the boundary nodes in joint space, avoiding repeatedly searching for extended nodes. Furthermore, it avoids the unnecessary iteration of the robotic manipulator forward kinematics solution and its time-consuming collision detection in Cartesian space. The method can rapidly plan a path to a target point and can be accelerated out of a local minimum area to improve path planning efficiency. The improved RRT algorithm proposed in this paper is simulated in a complex environment. The results reveal that the proposed algorithm can significantly improve the success rate and efficiency of the planning without losing other performance.
资助项目	Major Science and Technology Project of Henan Province[161100210300] ; National Natural Science Foundation of China[NSFC 61633020] ; National Natural Science Foundation of China[NSFC 61725305] ; Beijing Natural Science Foundation[4161002]
WOS关键词	CONFIGURATION-SPACE ; MOTION ; TASK ; MANIPULATORS ; SYSTEM
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000448001300001
资助机构	Major Science and Technology Project of Henan Province ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/22397]
专题	自动化研究所_智能制造技术与系统研究中心_先进制造与自动化团队
通讯作者	JUNZHI YU
作者单位	1.中国科学院自动化研究所 2.中国科学院大学
推荐引用方式 GB/T 7714	HAOJIAN ZHANG,YUNKUAN WANG,JUN ZHENG,et al. Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments[J]. IEEE ACCESS,2018,6:53296-53306.
APA	HAOJIAN ZHANG,YUNKUAN WANG,JUN ZHENG,&JUNZHI YU.(2018).Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments.IEEE ACCESS,6,53296-53306.
MLA	HAOJIAN ZHANG,et al."Path Planning of Industrial Robot Based on Improved RRT Algorithm in Complex Environments".IEEE ACCESS 6(2018):53296-53306.