Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm
Aiming at the fact that the RRT algorithm based on the target bias is easy to fall into local search and has a low search efficiency in complex environment, further improvement is made in the ROS based on the Dobot model and the DIY model. On the basis of creating the manipulator model, the MoveIt!...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-12-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.019 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547032419893248 |
|---|---|
| author | Cao Yi Zhang Jingtao Zhao Pu Li Lei Guo Yinhui |
| author_facet | Cao Yi Zhang Jingtao Zhao Pu Li Lei Guo Yinhui |
| author_sort | Cao Yi |
| collection | DOAJ |
| description | Aiming at the fact that the RRT algorithm based on the target bias is easy to fall into local search and has a low search efficiency in complex environment, further improvement is made in the ROS based on the Dobot model and the DIY model. On the basis of creating the manipulator model, the MoveIt! is used for configuration and the model is simplified to improve the efficiency of the collision detection. The extended target change strategy and variable step size are introduced to improve the algorithm which is based on the target biased RRT algorithm. The simulation of the manipulator obstacle avoidance motion planning under different forms of obstacles is carried out in the ROS. The experiments of the obstacle avoidance and obstacle avoidance grasping are carried out on the prototype. Simulation and experimental results show that the proposed improved RRT algorithm can improve the planning success rate and efficiency by 42.9% and 29.2% respectively compared with the RRT algorithm based on target bias. |
| format | Article |
| id | doaj-art-66be58e57b7948e2b03859afa27fea4c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-66be58e57b7948e2b03859afa27fea4c2025-01-10T14:56:43ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-12-014612413033108135Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT AlgorithmCao YiZhang JingtaoZhao PuLi LeiGuo YinhuiAiming at the fact that the RRT algorithm based on the target bias is easy to fall into local search and has a low search efficiency in complex environment, further improvement is made in the ROS based on the Dobot model and the DIY model. On the basis of creating the manipulator model, the MoveIt! is used for configuration and the model is simplified to improve the efficiency of the collision detection. The extended target change strategy and variable step size are introduced to improve the algorithm which is based on the target biased RRT algorithm. The simulation of the manipulator obstacle avoidance motion planning under different forms of obstacles is carried out in the ROS. The experiments of the obstacle avoidance and obstacle avoidance grasping are carried out on the prototype. Simulation and experimental results show that the proposed improved RRT algorithm can improve the planning success rate and efficiency by 42.9% and 29.2% respectively compared with the RRT algorithm based on target bias.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.019ManipulatorObstacle avoidance motion planningImproved RRT algorithmTarget changeVariable step size |
| spellingShingle | Cao Yi Zhang Jingtao Zhao Pu Li Lei Guo Yinhui Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm Jixie chuandong Manipulator Obstacle avoidance motion planning Improved RRT algorithm Target change Variable step size |
| title | Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm |
| title_full | Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm |
| title_fullStr | Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm |
| title_full_unstemmed | Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm |
| title_short | Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm |
| title_sort | obstacle avoidance motion planning of manipulators in ros based on the improved rrt algorithm |
| topic | Manipulator Obstacle avoidance motion planning Improved RRT algorithm Target change Variable step size |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.019 |
| work_keys_str_mv | AT caoyi obstacleavoidancemotionplanningofmanipulatorsinrosbasedontheimprovedrrtalgorithm AT zhangjingtao obstacleavoidancemotionplanningofmanipulatorsinrosbasedontheimprovedrrtalgorithm AT zhaopu obstacleavoidancemotionplanningofmanipulatorsinrosbasedontheimprovedrrtalgorithm AT lilei obstacleavoidancemotionplanningofmanipulatorsinrosbasedontheimprovedrrtalgorithm AT guoyinhui obstacleavoidancemotionplanningofmanipulatorsinrosbasedontheimprovedrrtalgorithm |