密闭多障碍物环境中的多节连续机器人路径规划算法研究

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-16 DOI:10.1017/s0263574724001383
Guohua Gao, Dongjian Li, Kai Liu, Yuxin Ge, Chunxu Song
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引用次数: 0

摘要

在狭窄的多障碍物环境中,由于需要避开障碍物,同时考虑到机器人运动学上的限制,为连续机器人生成可行路径具有挑战性。本文探讨了在狭窄多障碍物环境中防止连续机器人过度变形的路径规划算法。通过修改快速探索随机树星(RRT*)算法的树扩展过程,本文提出了一种称为连续-RRT*算法的路径规划算法,以实现更少的迭代次数和更快的收敛速度,并生成符合连续机器人运动学限制的理想路径。然后,在一个由肌腱驱动的四节连续机器人上实现了路径规划和路径跟踪,以验证路径规划算法的有效性。路径规划结果表明,算法生成的路径确实具有较少的过渡,而且算法生成的路径更接近满足连续机器人运动限制的最优路径。此外,路径跟踪实验验证了连续机器人沿着算法生成的路径成功导航,误差范围为 2.51%-3.91%。这证明了所提出的算法在满足连续机器人导航要求方面的有效性。
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A study on path-planning algorithm for a multi-section continuum robot in confined multi-obstacle environments

In confined multi-obstacle environments, generating feasible paths for continuum robots is challenging due to the need to avoid obstacles while considering the kinematic limitations of the robot. This paper deals with the path-planning algorithm for continuum robots in confined multi-obstacle environments to prevent their over-deformation. By modifying the tree expansion process of the Rapidly-exploring Random Tree Star (RRT*) algorithm, a path-planning algorithm called the continuum-RRT* algorithm herein is proposed to achieve fewer iterations and faster convergence as well as generating desired paths that adhere to the kinematic limitations of the continuum robots. Then path planning and path tracking are implemented on a tendon-driven four-section continuum robot to validate the effectiveness of the path-planning algorithm. The path-planning results show that the path generated by the algorithm indeed has fewer transitions, and the path generated by the algorithm is closer to the optimal path that satisfies the kinematic limitations of the continuum robot. Furthermore, path-tracking experiments validate the successful navigation of the continuum robot along the algorithm-generated path, exhibiting an error range of 2.51%–3.91%. This attests to the effectiveness of the proposed algorithm in meeting the navigation requirements of continuum robots.

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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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