Research on Path Planning for Intelligent Hydraulic Breaker
岁映②LUoYing;尹彬①YIN Bin;黄俊先①HUANG Jun-xian;唐敬铃①HUANG Jing-ling
祝成东①ZHU Cheng-dong
①山东建筑大学,济南250101 ;
②山重建机有限公司,临沂276024
①Shandong Jianzhu University ,Ji nan 250101,China;
②Strong Construction Machinery Co.,Lad.,Linyi 276024,China
摘要:以工程用破碎锤为研究对象，基于运动学分析，在ROS平台中搭建虚拟仿真环境，建立破碎机械臂模型。采用RRT和RRT*算法,分别在无障碍物环境和有障碍物环境下,对破碎机械臂进行重复运动规划仿真。结果表明:RRT算法路径规划用时少，但规划路径合理性和成功率都低于RRT*算法,且存在盲目搜索的问题.相比之下,RRT*算法可以随规划次数增加对路径进行优化,获得更平顺、更合理的破碎锤运动规划结果。
Abstract: The research object is hydraulic breaker which is widely employed in engineering.Kinematics analysis for the hydraulicbreaker arm was performed, the virtual simulation environment was built in the ROS platform, and a three-dimensional analysis model ofthe breaker arm was established. RRT and RRT * algorithms were used to simulate the motion planmning of the breaker in environment with/without obstacles,respectively. The results show that RRT algorithm had less calculating time. However, the rationality and reiability of theplanned path from RRT algorithm was lower than that from RRT *algorithm.Meanwhile,RRT algorithm tended to search blindly in somecases. In contrast, RRT * algorithm could gradually optimize the path with more planmning times and thus obtain more smooth and reasonablemotion planning result.
关键词:机器人操作系统;破碎锤机械臂;路径规划
Key words: robot operating system(ROS); mechanical arm of hydraulic breaker; path planning
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