[1]胡志强,张志安.基于改进 Bi-RRT 算法的梨果采摘机械臂路径规划[J].机械与电子,2026,44(05):64-70.
　HU Zhiqiang,ZHANG Zhi an.Path Planning for Pear Picking Based on Improved Bi-RRT Algorithm[J].Machinery & Electronics,2026,44(05):64-70.
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基于改进 Bi-RRT 算法的梨果采摘机械臂路径规划()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年05期
页码:
64-70
栏目:
机器人技术
出版日期:
2026-05-27

文章信息/Info

Title:
Path Planning for Pear Picking Based on Improved Bi-RRT Algorithm
文章编号:
1001-2257 ( 2026 ) 05-0064-07
作者:
胡志强; 张志安
南京理工大学机械学院,江苏 南京 210094
Author(s):
HU Zhiqiang ;  ZHANG Zhi ’ an
( School of Mechanical Engineering , Nanjing University of Science and Technology , Nanjing 210094 , China )
关键词:
采摘机械臂; Bi-RRT 算法; 路径规划
Keywords:
picking arm ;  Bi-RRT algorithm ;  path planning
分类号:
TP241
文献标志码:
A
摘要:
针对梨果采摘机械臂在复杂果园环境中路径规划效率低、路径质量差的问题,提出一种基于改进双向快速扩展随机树( Bi-RRT )算法的路径规划方法。引入目标导向策略,引入高斯采样概率性引导采样点朝向目标方向,使其更快地收敛到最优值。扩展节点时,设计一种近障碍物探索策略,通过环境感知将斥力场融入自适应步长策略中,有效降低碰撞风险。算法主要框架采用多阶段贪婪策略,基于最短路径代价原则应用至扩展方向、局部路径优化和全局解 3 个方面。最后对初始路径进行三次 B 样条曲线平滑处理。在复杂规划场景下分别与传统 RRT* 、 RRT-Connect 进行 MATLAB 仿真对比,仿真结果表明,改进后的算法有效减少了路径规划的时间,缩短了路径长度,具有良好的可行性和有效性。最后通过 ROS 导入改进的 Bi-RRT 算法,进行抓取采摘实验,进一步验证算法的有效性和高效性。
Abstract:
Aiming at the problems of low efficiency and poor path quality of pear picking arms in complex orchard environments , a path planning method based on improved bidirectional rapidly exploring random tree ( Bi-RRT ) algorithm is proposed.target oriented strategy is introduced , and Gaussian sampling probability is used to guide the sampling points towards the target direction , convergence to the optimal .expan , a near obstacle exploration strategy is designed , and the repulsive field is integrated into the adaptive step size strategy through environmental perception to effectively reduce the collision risk.The main framework of the algorithm adopts a multi-stage greedy strategy the expansion direction , local path optimization , and global solution. Finally , the initial generated path is smoothed by cubic B-spline curves three times. In complex planning scenarios , the proposed algorithm is compared with the traditional RRT* and RRT-Connect through MATLAB simulation. The simulation results show that the improved algorithm effectively reduces path planning time shortens path length , Finally , the improved Bi-RRT algorithm is imported through ROS , and real grasping and picking experiments are conducted to further verify the effectiveness and efficiency of the algorithm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2026-01-13
基金项目:江苏省农业厅农机研发制造推广应用一体化试点专项( JSYTH06 )
作者简介:胡志强 ( 2001- ),男,安徽芜湖人,硕士研究生,研究方向为机械臂轨迹规划;张志安 ( 1979- ),男,黑龙江绥化人,博士,副教授,研究方向为机器人,通信作者, E-mail : zzayoyo@163.com 。
更新日期/Last Update: 2026-08-25