Obstacle-Avoidance Path Planning of Robot Arm Based on Improved RRT Algorithm

摘要

In the application of RRT (Rapidly-exploring Random Trees) algorithm in obstacle avoidance path planning of redundant robot arms in high-dimensional space, the sampling area of random sampling points is large, the search time is long, the path twists and turns, and the redundant points are too many. In this paper, an efficient sampling RRT algorithm with adaptive step size and fast automatic convergence is proposed. Firstly, by adding the optimized gravity function, the step size of the extended tree is changed adaptively and the convergence is stronger. Secondly, the limited sampling of parent node area expansion is proposed to avoid useless point sampling and repeated point sampling, so that the utilization of sampling points is greatly improved. Finally, by changing the way of parent node reconnection and re-selection, the path tortuous degree is lower, the path planning cost and redundancy points are reduced, and MATLAB software is used to carry out the path planning simulation experiment. By comparing RRT, gravitational field RTT and RRT* algorithm, the improved RRT algorithm has significantly improved in distance, time and number of nodes. It has important engineering application value.