一种Halton序列的HDRRT移动机器人融合规划算法
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作者单位:

1.上海海洋大学工程学院;2.上海海洋大学海洋科学学院,上海深渊科学工程技术研究中心;3.中海油能源发展装备技术有限公司

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中图分类号:

TP242.2

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)(52071203);上海市科技攻关计划项目(20dz1206500);水下设施智能清洗巡检机器人技术研究(D-8006-21-0100)


A Halton Sequence Fusion planning Algorithm for HDRRT Mobile Robots
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Affiliation:

1.College of engineering science and technology,Shanghai Ocean University;2.Shanghai abyss science and Engineering Technology Research Center,College of Marine Sciences,Shanghai Ocean University;3.college of engineering science and technology,Shanghai Ocean University

Fund Project:

The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)(52071203); Natural Science Foundation of Shanghai Science and Technology Commission (general project) (19ZR1422700); Shanghai Science and technology research plan project (20dz1206500); Feasibility study on underwater cleaning and detection technology based on robot (D-8006-19-0083); Research on intelligent cleaning and inspection robot technology for underwater facilities (D-8006-21-0100)

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    摘要:

    针对标准RRT算法[Rapidly exploring random tree]采用伪随机序列导致采样点分布不均、不合理,且移动机器人从起始点到目标点路径有冗余路段及冗余节点的问题,提出HDRRT[Halton && Dijkstra && Rapidly exploring random tree]算法,该算法采用采样点分布均匀性好的Halton序列进行采样,并利用候选点集策略对节点进行筛选,以剔除冗余节点;同时该算法采用改进的Dijkstra算法提取原始路径关键节点,以减少路径冗余路段;在此基础上采用三次B样条曲线对路径做平滑处理。经MATlab联合ROS系统仿真结果表明,证明HDRRT算法相对于Bias-RRT和标准RRT算法具有快速性、稳定规划出最短以及平滑的路径等优点。

    Abstract:

    Aiming at the problem that standard RRT algorithm[Rapidly exploring random tree] using pseudo-random sequence leads to uneven and unreasonable distribution of sampling points, and there are redundant sections and redundant nodes in the path of mobile robot from the starting point to the target point, HDRRT[Halton && Dijkstra && Rapidly Exploring Random Tree] algorithm is proposed, which uses Halton sequence with good uniform distribution of sampling points for sampling, and uses candidate point set strategy to filter nodes to eliminate redundant nodes. At the same time, the improved Dijkstra algorithm is used to extract the key nodes of the original path to reduce the redundant path sections. On this basis, the path is smoothed by cubic B-spline curve. The simulation results of ROS system combined with MATlab show that HDRRT algorithm has the advantages of rapidity, stable planning and smooth path compared with Bias-RRT and standard RRT algorithm.

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  • 收稿日期:2021-10-05
  • 最后修改日期:2022-02-21
  • 录用日期:2022-02-25
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