Journal of Shandong University(Engineering Science) ›› 2022, Vol. 52 ›› Issue (6): 123-130.doi: 10.6040/j.issn.1672-3961.0.2022.036

• 机器学习与数据挖掘 • Previous Articles    

Path planning of mechanical arm based on intensified RRT algorithm

WANG Yu1,2,3, LIU Yanjun1,2,3,4*, JIA Hua1,2,3, XUE Gang2,3,4   

  1. 1. School of Mechanical Engineering, Shandong University, Jinan 250061, Shandong, China;
    2. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan 250061, Shandong, China;
    3. National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, Shandong, China;
    4. Institute of Marine Science and Technology, Shandong University, Qingdao 266237, Shandong, China
  • Published:2022-12-23

PDF (PC)

137

CLC Number: 

  • TP242
[1] KIM S H, NAM E, HA T I, et al. Robotic machining: a review of recent progress[J]. International Journal of Precision Engineering and Manufacturing, 2019, 20(9): 1629-1642.
[2] RODRIGUEZ G D, SORROSAL G, CABANES I, et al. Human-robot interaction review: challenges and solutions for modern industrial environments[J]. IEEE Access, 2021, 9: 108557-108578.
[3] FANG H C, ONG S K, NEE A Y C. Robot path planning optimization for welding complex joints[J]. The International Journal of Advanced Manufacturing Technology, 2017, 90(9): 3829-3839.
[4] CHEN Y, CHEN W Z, LI B, et al. Paint thickness simulation for painting robot trajectory planning: a review[J]. Industrial Robot:the International Journal of Robotics Research and Application, 2017, 44(5): 629-638.
[5] LIM G H, LAU N, PEDROSA E, et al. Precise and efficient pose estimation of stacked objects for mobile manipulation in industrial robotics challenges[J]. Advanced Robotics, 2019, 33(13): 636-646.
[6] 魏坤. 机械臂混杂场景动态路径规划与多目标识别研究[D].哈尔滨:哈尔滨工业大学, 2019. WEI Kun. Research on dynamic path planning and multi-objective recognition of the manipulator in cluttered scenes [D]. Harbin: Harbin Institute of Technology, 2019.
[7] 郭枭鹏. 基于改进人工势场法的路径规划算法研究[D]. 哈尔滨:哈尔滨工业大学, 2017. GUO Xiaopeng. Research on improved artificial potential field path planning algorithm[D]. Harbin: Harbin Institute of Technology, 2017.
[8] FU Bing, CHEN Lin, ZHOU Yuntao, et al. An improved A* algorithm for the industrial robot path planning with high success rate and short length[J]. Robotics and Autonomous Systems, 2018, 106: 26-37.
[9] LIU Xiaohuan, ZHANG Degan, ZHANG Jie, et al. A path planning method based on the particle swarm optimization trained fuzzy neural network algorithm[J]. Cluster Computing, 2021, 24(3): 1901-1915.
[10] ELHOSENY M, THARWAT A, HASSANIEN A E. Bezier curve based path planning in a dynamic field using modified genetic algorithm[J]. Journal of Computational Science, 2018, 25: 339-350.
[11] WANG Lanfei, KAN Jiangming,GUO Jun, et al. 3D path planning for the ground robot with improved ant colony optimization[J]. Sensors, 2019, 19(4): 815-836.
[12] LAVALLE S M. Rapidly-exploring random trees: a new tool for path planning[R].Iowa,USA: Computer Science Department,Iowa State University, 1998.
[13] LAVALLE S M, KUFFNER J. Rapidly-exploring random trees:progress and prospects[C] //Proceedings of 4th International Workshop on the Algorithmic Foundations of Robotics(WAFR). Hanover, USA: Sandia Natl Labs, 2000:293-308.
[14] KUFFNER J J, LAVALLE S M. RRT-connect: an efficient approach to single-query path planning[C] // Proceedings of 2000 IEEE International Conference on Robotics and Automation. San Francisco, USA: IEEE, 2000: 995-1001.
[15] KARAMAN S, FRAZZOLI E. Incremental sampling-based algorithms for optimal motion planning[J]. International Journal of Robotics Research, 2011, 30(7): 5326-5332.
[16] QURESHI A H, AYAZ Y. Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments[J]. Robotics and Autonomous Systems, 2015, 68: 1-11.
[17] 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.
[18] WANG Wei, ZUO Lei, XU Xin. A learning-based multi-RRT approach for robot path planning in narrow passages[J]. Journal of Intelligent & Robotic Systems, 2018, 90(1): 81-100.
[19] TAHERI E, FERDOWSI M H, DANESH M. Fuzzy greedy RRT path planning algorithm in a complex configuration space[J]. International Journal of Control, Automation and Systems, 2018, 16(6): 3026-3035.
[20] 司徒华杰,雷海波,庄春刚. 动态环境下基于人工势场引导的RRT路径规划算法[J]. 计算机应用研究, 2021, 38(3): 714-717. SITU Huajie, LEI Haibo, ZHUANG Chungang. Artificial potential field based RRT algorithm for path planning in dynamic environment[J]. Computer Application Research, 2021, 38(3): 714-717.
[21] 王兆光. 六自由度机械臂避障路径规划研究[D]. 成都:西南交通大学, 2018. WANG Zhaoguang. Research on obstacle avoidance path planning of 6-DOF manipulator[D]. Chengdu: South-west Jiaotong University, 2018.
[22] XIAO Fan, LI Gongfa, JIANG Du, et al. An effective and unified method to derive the inverse kinematics formulas of general six-DOF manipulator with simple geometry[J]. Mechanism and Machine Theory, 2021, 159: 1-14.
[23] 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. MA Huili, LU Zhaoquan, WANG shouting. Research on manipulator path planning based on improved RRT* algorithm[J]. Mechanical Design and Research, 2020, 36(4): 42-46.
[24] ZHANG Tie, HONG Jingdong. Collision detection method for industrial robot based on envelope-like lines[J]. Industrial Robot: the International Journal of Robotics Research and Application, 2019, 46(4): 510-517.
[1] SHI Zhenjie, LIU Yanjun, XUE Gang, JIA Hua, WANG Yu. Design and kinematics analysis of hybrid drive anthropomorphic manipulator [J]. Journal of Shandong University(Engineering Science), 2022, 52(4): 76-82.
[2] LIANG Qixing, LI Bin, LI Zhi, ZHANG Hui, RONG Xuewen, FAN Yong. Algorithm of adaptive slope adjustment of quadruped robot based on model predictive control and its application [J]. Journal of Shandong University(Engineering Science), 2021, 51(3): 37-44.
[3] Fangyun HAN,Liang QIAO,Bincheng ZHAO,Li ZHANG. Weighted value of solar tariff based on time-of-use electricity price [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 93-97,106.
[4] Honghua ZHAO,Jian ZHAO,Xingguang DUAN,Zhitong HU,Qianqian TIAN,Yaohua ZHAO. Configuration design and interference analysis of multi-arm robot for mandible reconstruction [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 73-80.
[5] Caihong LI,Chun FANG,Zhiqiang WANG,Bin XIA,Fengying WANG. Complete coverage path planning for mobile robots based on hyperchaotic synchronization control [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 63-72.
[6] Linglong KONG,Guohui TIAN. A robot service recognition mechanism based on ontology in smart home [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 45-54.
[7] Wei WANG,Feng WU,Fengyu ZHOU. Research status and development trend of autonomous cognition and learning of robot manipulation skills [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 11-24.
[8] Qiang ZHANG. Motion control system design of multi-joint snake-like manipulator for nuclear environment [J]. Journal of Shandong University(Engineering Science), 2018, 48(6): 122-131.
[9] XIN Yaxian, LI Yibin, LI Bin, RONG Xuewen. Smooth walk-to-trot gait transition algorithm for quadruped robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 42-49.
[10] LIU Zhe, SONG Rui, ZOU Tao. End force tracking control algorithm of grinding robot based on model predictive control [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 42-49.
[11] TANG Leshuang, TIAN Guohui, HUANG Bin. An object fusion recognition algorithm based on DSmT [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 50-56.
[12] WANG Xiuqing, ZENG Hui, XIE Fei, LYU Feng. Fault diagnosis for manipulators based on Spiking neural networks [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(5): 15-21.
[13] MA Shuaiyifan, ZHAO Zijian. Surgical navigation system based on anartificialmarker [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(3): 63-68.
[14] ZHAO Zijian, WANG Fang, CHANG Faliang. Survey on medical robot in computer-aided surgery [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(3): 69-78.
[15] LIU Bin, SONG Rui, CHAI Hui. Buffering strategy for articulated legged robot based on virtual model control and acceleration planning [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(6): 69-75.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd