【摘要】 针对RRT算法在机械臂路径规划的过程中无方向性，在无障碍物处产生过多无用节点的问题，采用目标偏置、双向分段搜索的策略对RRT算法进行改进，提出了具有导向性的双向分段搜索的改进RRT算法并应用于七自由度冗余机械臂的路径规划上，通过Matlab进行了三维环境路径规划仿真实验，并通过ROS平台进行冗余机械臂在简单环境与狭窄环境的避障仿真实验。实验结果表明，改进的RRT算法能够有效地减少路径的节点数量与搜索时间，并提高路径规划的成功率。更多还原

【Abstract】 To solve the problem that RRT algorithm has no directionality in the process of robot arm path planning and generates too many useless nodes at the obstacle free position, the RRT algorithm is improved by adopting the strategy of target offset and two-way segmented search, and an improved RRT algorithm with directional two-way segmented search is proposed and applied to the path planning of the seven degree of freedom redundant robot arm. The three-dimensional environment path planning simulation experiment is carried out using MATLAB. And the obstacle avoidance simulation experiment of redundant manipulator in simple environment and narrow environment is carried out using ROS platform. The experimental results show that the improved RRT algorithm can effectively reduce the number of nodes and the search time of the path, and improve the success rate of path planning.更多还原