[1]宋云云,杨盛毅,等.非完整约束移动机器人 CRAB-RRT 轨迹规划[J].机械与电子,2023,41(04):3-8.
　SONG Yunyun,YANG Shengyi,et al.CRAB-RRT Trajectory Planning Algorithm for Nonholonomic Constraints Mobile Robots[J].Machinery & Electronics,2023,41(04):3-8.
点击复制

非完整约束移动机器人 CRAB-RRT 轨迹规划()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年04期
页码:
3-8
栏目:
设计与研究
出版日期:
2023-04-27

文章信息/Info

Title:
CRAB-RRT Trajectory Planning Algorithm for Nonholonomic Constraints Mobile Robots
文章编号:
1001-2257 ( 2023 ) 04-0003-06
作者:
宋云云 1 ; 2 ; 杨盛毅 2 ;  3 ; 朱 力 1 ; 2
1. 贵州民族大学数据科学与信息工程学院,贵州 贵阳 550025 ; 2. 贵州民族大学模式识别与智能系统重点实验室,贵州 贵阳 550025 ; 3. 贵州民族大学机械电子工程学院,贵州 贵阳 550025
Author(s):
SONG Yunyun1 ;  2 ;  YANG Shengyi2 ;  3 ;  ZHU Li1 ; 2
( 1.School of Data Science and Information Engineering , Guizhou Minzu University , Guiyang 550025 , China ; 2.Key Laboratory of Pattern Recognition and Intelligent System , Guizhou Minzu University , Guiyang 550025 , China ; 3.School of Mechatronics Engineering , Guizhou Minzu University , Guiyang 550025 , China )
关键词:
非完整约束;  CRAB-RRT ; 目标偏向性; 自适应步长;  B 样条平滑
Keywords:
nonholonomic constraints ;  CRAB-RRT ;  target bias ;  adaptive step-size ;  B-spline smooth
分类号:
TP242
文献标志码:
A
摘要:
针对快速扩展树算法在多障碍环境搜索效率低、冗余节点多的问题,提出一种 CRAB-RRT 算法。该算法采用圆域概率偏向采样策略进行随机采样;将扩展树上节点分为 2 类,通过度量邻近点间对角线距离、历史路径成本和扩展角度的加权和,在有效邻近点集中选出高质量最近点;在新节点扩展中添加了目标引力分量,并根据环境障碍信息实现扩展步长自适应变化;经过对非完整约束移动机器人运动学模型的分析,提出了极限角约束,通过考虑受极限角约束的路径裁剪策略剔除冗余节点,利用三次 B 样条平滑方法平滑轨迹。通过数值仿真分析和实车实验,验证了 CRAB-RRT 算法的可行性、实用性与优越性,平滑后的路径更利于机器人跟踪,且适用于多障碍环境。
Abstract:
Aiming at the problem of low search efficiency and many redundant nodes of the rapidly exploring random trees algorithm in multi-obstacle environment , the CRAB-RRT algorithm is proposed. In this paper , random sampling can be implemented by the circle domain probability bias sampling strategy.Nodes in the extension tree are divided into two classes , and the nearest points with high quality are selected from set of efficient neighboring points by comparing the weighted sum of the diagonal distance between adjacent points , the historical path cost and the extension angle.The target gravity component is added in the new node expansion , and the expansion step adaptively changes is related to the information of environmental obstacles.After analyzing the kinematic model of nonholonomic mobile robot , the limit angle constraint was proposed.The redundant nodes were eliminated by path clipping strategy with limit angle constraint , and the trajectory was smoothed by cubic B-spline smoothing method.The feasibility and practicability of the CRAB-RRT algorithm are verified by numerical simulation analysis and real vehicle experiment.The smoothed path is more conducive to robot tracking and is suitable for multi-obstacle environment.

参考文献/References:

[ 1 ] LAVALLE S M.Rapidly-exploring random trees : a new tool for path planning [ R ] .Ames , USA : Computer Science Department , Iowa State University , 1998.

[ 2 ] 吴宇,胡莘婷 . 城市低空环境中多旋翼无人机在线航线规划方法研究[ J ] . 控制与决策, 2021 , 36 ( 12 ): 2851-2860.
[ 3 ] 成怡,王赟,修春波 . 一种改进 RRT 算法在路径规划中的应用研究[ J ] . 控制工程, 2020 , 27 ( 3 ): 567-571.
[ 4 ] SUO C , HE L L.Dynamic path planning strategy based on improved RRT* algorithm [ J ] .Journal of measurement science and instrumentation , 2022 , 13 ( 2 ): 198-208.
[ 5 ] CAO M X , ZOU X J , JIA C Y , et al.RRT-based path planning for an intelligent litchi-picking manipulator[ J ] .Computers andelectronics in agriculture , 2019 , 156 : 105-118.
[ 6 ] 陈侠,刘奎武,毛海亮 .基于 APF-RRT 算法的无人机航迹规划[ J ] .电光与控制,2022 , 29 ( 5 ): 17-22.
[ 7 ] LIB R , FENG J , QIAN X L.Optimal path planning for construction region based on potential function [ C ]// 2019 IEEE 4th Advanced Information Technology , Electronic and Automation Control Conference ( IAEAC ) .New York : IEEE , 2019 : 155-159.
[ 8 ] NOREEN I , KHAN A , RYU H , et al.Optimal path planning in cluttered environment using RRT*-AB[ J ] .Intelligent service robotics , 2018 , 11 ( 1 ): 41-52.
[ 9 ] WANG W , GAO H L , YI Q Z , et al.An improved RRT* path planning algorithm for service robot [ C ] ∥ 2020 IEEE 4th Information Technology , Networking , Electronic and Automation Control Conference ( ITNEC ) .New York : IEEE , 2020 : 1824-1828.
[ 10 ] RYBUS T.Point-to-point motion planning of a free floating space manipulator using the rapidly exploring random trees( RRT ) method [ J ] .Robotica , 2020 , 38( 6 ): 957-982.
[ 11 ] 杜明博,梅涛,陈佳佳等 . 复杂环境下基于 RRT 的智能车辆运动规划算法[ J ] . 机器人, 2015 , 37( 4 ): 443-450.
[ 12 ] 梁中一,程方晓,魏巍 . 改进 RRT* 路径规划算法[ J ] .长春工业大学学报,2020 , 41 ( 6 ): 602-607.
[ 13 ] 马慧丽,鲁照权,王寿庭 . 基于改进 RRT 算法的机械臂路径规划研究[ J ] . 机械设计与研究,2020 , 36 ( 4 ):42-46.
[ 14 ] 陈敏,李笑,武交峰 . 基于改进 RRT 算法的差动机器人路径规划[ J ] . 计算机应用与软件,2019 , 36 ( 9 ):276-280.
[ 15 ] WEI K , REN B Y.A method on dynamic path planning for robotic manipulator autonomous obstacle avoidance based on an improved RRT algorithm [ J ], Sensors ( basel ), 2018 , 18( 2 ): 571-586.
[ 16 ] AN B , KIM J , PARKF C.An adaptive step-size RRT planning algorithm for open-chain robots [ J ] .IEEE Robotics and automation letters , 2018 , 3 ( 1 ): 312-319.

备注/Memo

备注/Memo:
收稿日期: 2022-09-18
基金项目:贵州省科学技术基金项目(黔科合基础[ 2017 ] 1088 )
作者简介:宋云云 ( 1997- ),女,贵州纳雍人,硕士研究生,研究方向为机器人路径规划与跟踪控制;杨盛毅 ( 1986- ),男,贵州平塘人,博士,教授,研究方向为飞行器动力学与控制;朱 力 ( 1996- ),女,贵州织金人,硕士研究生,研究方向为机器人路径规划。
更新日期/Last Update: 2023-05-09