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针对核反应堆检修用多关节机械手的路径规划问题,提出了一种基于C空间分解-路标法的路径规划算法.由于该机械手C空间维数较高,因此将整个C空间分解成2组低维子空间,分别基于子空间建立路标图,并扩充成整个C空间内的路标图,从而将路标图的搜索维数由六维转化为三维,降低了路标图的搜索空间.同时为进一步提高路标图的质量,采用自适应变步长法来选取路标节点,根据前两时刻机械手各关节点距障碍物距离的变化情况来决定下一路标点的选择.仿真结果表明该方法不仅缩短了在线实时规划的时间,而且提高了路径规划的成功率.
A path planning algorithm based on C-space decomposition-road marking method is proposed to solve the path planning problem of multi-joint manipulator for overhaul of nuclear reactors. Because of the high space dimension of C, the entire C space is decomposed into two groups of low-dimensional sub- Space, the road map is established based on the subspace and expanded into the roadmap in the entire C space, so that the search dimension of the roadmap is transformed from six-dimensional to three-dimensional and the search space of the roadmap is reduced, and at the same time, in order to further improve the roadmap The adaptive step-by-step method is adopted to select the roadmap nodes, and the selection of the punctuation of the next road is decided according to the change of the distances between the robot’s joints and the obstacle in the first two moments.The simulation results show that the proposed method not only shortens the time- Time, but also improve the success rate of path planning.