基于改进RRT算法的机械臂路径规划

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关键词：机械臂；路径规划；RRT算法；固定采样点；自适应步长；动态目标偏置中图分类号：TN919-34；TH112；TG659 文献标识码：A 文章编号：1004-373X（2026）01-0157-06

Roboticarmpathplanningbasedon improvedRRTalgorithm

LIWeida，JIANG Hong，ZHANG Xiangfeng，MA Benchi，CHEN Lin，ZHANG Pengfei （IntelligentManufacturingModern IndustrialCollege，XinjiangUniversity，Urumqi83Oo17，China）

Abstract：AnimprovedRRTalgorithmisproposed toeliminatetheblindsearch，shorten longcomputationtimeand decreaseredundant process points of therapid expansionrandomtree（RRT）algorithminroboticarm path planning.Firstly，a fixedsamplingfunctionwhichmakestheexpansionoftherandom treemoredirectionalisestablished.Secondly，adynamic targetbiasstrategyisaddedonthebasisofadaptivestepsize，which increasestherateofconvergencebyavoidingexcesive searchingoflocalregions.Finaly，tworandom treesareconstructedbyusingfixedsampling points，andthenthesearchis carriedut，whichincreasesexpansionspeedandrateofconvergence，andeliminatesblindnessof thealgorithm.Simulation results in simple environment show that the convergence time of the improved RRT algorithm is reduced by 18.3% ！ 30% ，and 63.5%，espectivelyanditspathlengthisshortenedby14.1%，3.5%，nd41.6%，respectivelyelativetothoseoftethr threealgorithms.Thesimulationresultsincomplexenvironmentshowthattheconvergence timeof theimprovedRRTalgorithm isreducedby56.4%，43.3%，and67.6%，respectively，anditspathlengthisshortenedby16.1%，9.7%，and 34.2%， respectivelyelativetothoseofteerthreelgorits，whichprovestefectivenessoftheimproedalgoritinicasing therateofconvergenceandimprovingtheorentation.Atthesametime，theproposedalgorithmismoreadaptabletothecomplex environment.

Keywords：robotic arm; path planning;RRT algorithm;fixed sampling point;adaptive step size;dynamic target bias

0 引言

随着机械臂技术的不断发展，机械臂已经成为了各个领域的重要支撑工具，机械臂的优势包括可编程性、适应性、可远程操作、可携带各种传感器和各种设备，因此在汽车制造、电子制造和物流仓储等领域的应用不断扩大。（剩余8656字）