Robotic Arm Motion Planning Based on an Improved PRM
In order to solve the problems such as low efficiency, route redundancy and insufficient smoothness of the traditional probabilistic roadmap method (PRM), an improved PRM was proposed for obstacle avoidance path planning of manipulators. Sobol sequence sampling method was used to improve the connect...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.12.013 |
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| author | You Dazhang Zhao Hengyi Song Luwen |
| author_facet | You Dazhang Zhao Hengyi Song Luwen |
| author_sort | You Dazhang |
| collection | DOAJ |
| description | In order to solve the problems such as low efficiency, route redundancy and insufficient smoothness of the traditional probabilistic roadmap method (PRM), an improved PRM was proposed for obstacle avoidance path planning of manipulators. Sobol sequence sampling method was used to improve the connectivity of probabilistic road map and the success rate of the algorithm. Redundant node pruning and progressive route pruning based on dichotomous interpolation were adopted to make the path more approximate to the optimal solution. Finally, the path was smoothed by using the quintic polynomial interpolation method to make the motion of the manipulator more stable and smoother. The simulation results show that the improved PRM can improve the success rate of path planning, optimize the path, reduce the number of nodes and path length, and the manipulator is more uniform and smoother. The experiment proves that the method can effectively and reasonably realize the obstacle avoidance and path planning of the manipulator. |
| format | Article |
| id | doaj-art-ecd67f40c2444778835c2356b00d3763 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ecd67f40c2444778835c2356b00d37632025-01-10T15:02:23ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-12-0148879378918975Robotic Arm Motion Planning Based on an Improved PRMYou DazhangZhao HengyiSong LuwenIn order to solve the problems such as low efficiency, route redundancy and insufficient smoothness of the traditional probabilistic roadmap method (PRM), an improved PRM was proposed for obstacle avoidance path planning of manipulators. Sobol sequence sampling method was used to improve the connectivity of probabilistic road map and the success rate of the algorithm. Redundant node pruning and progressive route pruning based on dichotomous interpolation were adopted to make the path more approximate to the optimal solution. Finally, the path was smoothed by using the quintic polynomial interpolation method to make the motion of the manipulator more stable and smoother. The simulation results show that the improved PRM can improve the success rate of path planning, optimize the path, reduce the number of nodes and path length, and the manipulator is more uniform and smoother. The experiment proves that the method can effectively and reasonably realize the obstacle avoidance and path planning of the manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.12.013Motion planningProbabilistic roadmap methodSobol sequence samplingPath optimizationQuintic polynomial interpolation |
| spellingShingle | You Dazhang Zhao Hengyi Song Luwen Robotic Arm Motion Planning Based on an Improved PRM Jixie chuandong Motion planning Probabilistic roadmap method Sobol sequence sampling Path optimization Quintic polynomial interpolation |
| title | Robotic Arm Motion Planning Based on an Improved PRM |
| title_full | Robotic Arm Motion Planning Based on an Improved PRM |
| title_fullStr | Robotic Arm Motion Planning Based on an Improved PRM |
| title_full_unstemmed | Robotic Arm Motion Planning Based on an Improved PRM |
| title_short | Robotic Arm Motion Planning Based on an Improved PRM |
| title_sort | robotic arm motion planning based on an improved prm |
| topic | Motion planning Probabilistic roadmap method Sobol sequence sampling Path optimization Quintic polynomial interpolation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.12.013 |
| work_keys_str_mv | AT youdazhang roboticarmmotionplanningbasedonanimprovedprm AT zhaohengyi roboticarmmotionplanningbasedonanimprovedprm AT songluwen roboticarmmotionplanningbasedonanimprovedprm |