Improved RRT algorithm for manipulator path planning based on dynamic probability sampling

ZHANG Shijun; WANG Zhaohui; KE Xilin; YANG Hongjie; WU Pengmin

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Improved RRT algorithm for manipulator path planning based on dynamic probability sampling

Calculation & Test | 更新时间：2025-12-30

- Improved RRT algorithm for manipulator path planning based on dynamic probability sampling
- Vol. 44, Issue 12, Pages: 145-149(2025)
- 作者机构：
  
  1. 武汉科技大学冶金装备及其控制教育部重点实验室,湖北,武汉,430081
  2. 2.武汉科技大学机械传动与制造工程湖北省重点实验室,湖北,武汉,430081
  3. 3.五冶集团上海有限公司焦化工程建造标准研究所,上海,201999
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP391
- Published：2025
- 稿件说明：
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ZHANG Shijun, WANG Zhaohui, KE Xilin, et al. Improved RRT algorithm for manipulator path planning based on dynamic probability sampling[J]. 2025, 44(12): 145-149.
DOI：

ZHANG Shijun, WANG Zhaohui, KE Xilin, et al. Improved RRT algorithm for manipulator path planning based on dynamic probability sampling[J]. 2025, 44(12): 145-149. DOI：

摘要

针对传统快速搜索随机树(RRT)算法在机械臂路径规划中存在的随机性大、对不同环境的采样差异性不足引起的资源浪费、规划效率低、规划路径不平滑等问题，提出一种动态概率采样RRT(DP-RRT)算法。首先，引入动态概率采样机制，通过累计节点拓展中产生碰撞的次数，反映环境中局部障碍物的变化情况，从而实时调整目标点的采样偏置概率。其次，结合步长自适应策略，增大对算法收敛有益的节点步长。然后，采用扩展角度约束方式，限制算法的采样区域。最后，利用三次B样条曲线对轨迹进行平滑处理，并在MATLAB与机器人操作系统(ROS)中进行了算法的仿真实验。实验结果表明：DP-RRT算法能够较好地完成机械臂在面对不同环境下的避障路径规划任务，且在规划时间、路径长度、成功率等方面均优于传统RRT算法。

Abstract

Aiming at the problems of the traditional rapidly exploring random tree(RRT)algorithm in path planning of manipulator

such as high randomness

waste of resources caused by insufficient sampling differences in different environments

low planning efficiency and non-smooth planning path

a dynamic probability sampling RRT(DP-RRT) algorithm is proposed.Firstly

a dynamic probability sampling mechanism is introduced to reflect the changes in local obstacles during the environment by accumulating the number of collisions in node expansion

so as to adjust the sampling bias probability of target points in real time.Secondly

combined with a step-size adaptive strategy

the node step-size which is beneficial to the convergence of the algorithm is increased.Then

the sampling area of the algorithm is limited by extending the angle constraint.Finally

the trajectory is smoothed by a cubic B-spline curve and the simulation experiment of the algorithm is carried out in MATLAB and robot operating system(ROS).Experimental results show that the DP-RRT algorithm can effectively complete the obstacle-avoidance path planning task of manipulator in different environments

and it is superior to the traditional RRT algorithm in terms of planning time

path length and success rate.

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