Research on Obstacle Avoidance Path Planning of Manipulators using Potential Energy Cost PRM Algorithm
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摘要: 为了提高概率地图算法(Probabilistic roadmap method,PRM)规划结果的质量,提出势能代价PRM算法,将其应用于机械臂避障路径规划。建立规划空间任意节点的势能评价标准;定义困难区域节点,研究基于Metropolis准则的障碍空间节点调整策略;建立机械臂连杆的势能函数;给出机械臂任意位姿间的安全路径检查方法。仿真测试表明:性能方面,提出算法的规划质量和规划时间均优于PRM、OBPRM、高斯采样PRM算法;机械臂避障路径规划方面,提出算法的规划质量显著优于PRM算法,在规划质量和时间消耗上优于OBPRM和高斯采样PRM算法,且能使机械臂规避所有障碍并到达目标位姿。
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关键词:
- PRM /
- 势能函数 /
- 机械臂 /
- 避障路径规划 /
- Metropolis准则
Abstract: In order to improve the quality of the path planning results of probabilistic roadmap method (PRM), a potential energy cost PRM algorithm was proposed and applied to the obstacle avoidance path planning of manipulators. Potential energy evaluation criteria for any node in planning space was established; difficult area nodes were defined, and an adjustment strategy of the nodes of obstacle space based on Metropolis criteria were studied; the potential energy function of manipulators' links was established. A safe path check method between any configurations of manipulators was given. Simulation test shows that the proposed algorithm is superior to PRM, OBPRM and Gaussian sampling PRM in terms of planning quality and time of planning; in the aspect of the obstacle avoidance path planning of manipulators, the proposed algorithm is superior to PRM algorithm in planning quality, and it is better than OBPRM and Gaussian sampling PRM algorithm in planning quality and time consumption, and can make manipulators avoid all obstacles and reach the objective posture.-
Key words:
- PRM /
- potential energy function /
- manipulators /
- obstacle avoidance path planning /
- Metropolis criterion
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表 1 算法的参数设置
算法 自由空间
采点数安全距离s 邻节点距离
限制d起始点 目标点 T $ \sigma $ U $ \eta $ $ \lambda $ 高斯采样的
标准差PRM 400 0.1 2.5 (1,2) (18,18) 无 无 无 无 无 无 势能代价 PRM 1 2 4 2 8000 无 高斯采样 PRM 无 无 无 无 无 4 OBPRM 无 无 无 无 无 无 表 2 算法的SUC、S和t
规划环境 算法 评价指标 SUC/% S t/s 环境1
(图3)PRM 25 26.8812 2.3970 势能代价 PRM 100 24.9497 2.2932 高斯采样 PRM 85 26.0664 2.6305 OBPRM 85 25.6786 2.4634 环境2
(图4)PRM 20 27.5589 2.5760 势能代价 PRM 100 25.0830 2.3670 高斯采样 PRM 80 26.4508 2.7993 OBPRM 75 26.2120 2.6463 环境3
(图5)PRM 70 27.3970 3.2201 势能代价 PRM 100 25.1934 3.0808 高斯采样 PRM 100 26.2283 3.4381 OBPRM 95 26.4872 3.4242 表 3 KR5机械臂D-H参数
连杆j qj/(°) dj/m aj-1/m αj-1/(°) 1 [−180,180] 0.4000 0.1800 90 2 [−180,180] 0.1350 0.6000 180 3 [−180,180] 0.1350 0.1200 −90 4 [−180,180] 0.6200 0 90 5 [−180,180] 0 0 −90 6 [−180,180] 0 0 0 表 4 算法的参数设置
算法 自由空间
采点数安全
距离s连杆
半径阈值E 邻节点距
离限制 d起始位姿 目标位姿 T $ \sigma $ U $ \eta $ $ \lambda $ 高斯采样
的标准差PRM 1000 0.03 m 0.06 m 16° 32° [0°,30°,−20°,
20°,40°,0°][130°,40°,−50°,
50°,50°,0°]无 无 无 无 无 无 势能代价PRM 1 0.1 m 3 0.1 4000 无 高斯采样PRM 无 无 无 无 无 10 OBPRM 无 无 无 无 无 无 表 5 算法的SUC、S和t均值
规划环境 算法 评价指标 SUC/% S t/s 环境1
(图6)PRM 5 149.3212 12.1450 势能代价 PRM 100 140.9779 27.5040 高斯采样 PRM 100 150.9876 64.1363 OBPRM 30 147.8766 40.4497 环境2
(图7)PRM 15 148.1819 12.1820 势能代价 PRM 100 141.6972 28.3279 高斯采样 PRM 100 148.8181 65.0375 OBPRM 55 147.0001 41.9689 环境3
(图8)PRM 0 无 无 势能代价 PRM 100 141.0630 33.2550 高斯采样 PRM 90 158.5556 89.9397 OBPRM 0 无 无 环境4
(图9)PRM 0 无 无 势能代价 PRM 100 139.7262 37.9871 高斯采样 PRM 100 151.3292 90.2518 OBPRM 0 无 无 -
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