Obstacle avoidance path planning for harvesting robot arm based on improved PRM

ZOU Yu-xing; LI Li-jun; GAO Zi-cheng

doi:10.13873/J.1000-9787(2019)01-0052-05

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Obstacle avoidance path planning for harvesting robot arm based on improved PRM

更新时间：2025-09-11

- Obstacle avoidance path planning for harvesting robot arm based on improved PRM
- Vol. 38, Issue 1, Pages: 52-56(2019)
- 作者机构：
  
  中南林业科技大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2019)01-0052-05
  CLC： TP242
- Published：2019
- 稿件说明：
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[1]邹宇星,李立君,高自成.基于改进PRM的采摘机器人机械臂避障路径规划[J].传感器与微系统,2019,38(01):52-56.

ZOU Yu-xing, LI Li-jun, GAO Zi-cheng. Obstacle avoidance path planning for harvesting robot arm based on improved PRM[J]. 2019, 38(1): 52-56.
[1]邹宇星,李立君,高自成.基于改进PRM的采摘机器人机械臂避障路径规划[J].传感器与微系统,2019,38(01):52-56. DOI： 10.13873/J.1000-9787(2019)01-0052-05.

ZOU Yu-xing, LI Li-jun, GAO Zi-cheng. Obstacle avoidance path planning for harvesting robot arm based on improved PRM[J]. 2019, 38(1): 52-56. DOI： 10.13873/J.1000-9787(2019)01-0052-05.

摘要

针对采摘机器人机械臂在不确定的环境中进行采摘作业的要求

提出了一种基于改进概率地图（PRM）算法的机械臂避障路径规划方法。将机械臂工作空间分割成离散单元集合

通过遍历的方法

获得机械臂工作空间中任意离散单元与机械臂有撞位姿之间的映射关系。将空间障碍物分割成离散单元

并通过索引映射关系获得与障碍物有撞的所有机械臂位姿信息

并以此建立关节构形空间。通过PRM算法在关节构形空间中快速搜索机械臂避障路径。仿真结果表明:相比传统PRM算法

改进算法速度提高22. 2%

能够有效地实现机械臂无碰撞路径规划。

Abstract

Aiming at requirement of harvesting robot arm in uncertain environments

a kind of obstacle avoidance path planning algorithm for robot arm based on improved probabilistic roadmap（ PRM） algorithm is proposed.Workspace of the robot arm is divided into discretized unit set

mapping relationship between arbitary discrete element and collision position in workspace is obtained by traversal method. The obstacles are also divided into discretized units

collision position information is obtained

by indexing the mapping relationship

and the joint configuration space is constructed. Obstacle avoidance path of robot arm is quickly searched by PRM algorithm in joint configuration space. The simulation results show that compared with traditional PRM algorithm

the improved algorithm improves speed about 22. 2 %

it can effectively realize collision-free path planning of robot arm.

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references

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