Obstacle Avoidance Trajectory Planning of Loading Robot Based on Improved RRT Algorithm

Chuan Liao ； Yinghua Liao ； Jun Xie

《International Core Journal of Engineering》 6卷5期 (2020/05) Pp. 209-213

https://doi.org/10.6919/ICJE.202005_6(5).0031

摘要

The feeding path of the feeding robot on the production line is directly related to the production efficiency of the production line and the service life of the equipment. Aiming at the problem of artificially adjusting the feeding path of the feeding robot, such as unevenness and poor quality, an improved RRT algorithm is proposed to search for a smooth path and avoid obstacles. High-quality feeding path. First use AABB and K-DOPs bounding box technology to simplify the actual production line environment, then use the improved RRT algorithm to simplify the environment search path, and finally use Mathematica software to complete the obstacle avoidance path simulation. The simulation results show that the loading robot successfully bypasses the obstacle from the starting point to reach the target point, which illustrates the feasibility of the obstacle avoidance path search of the improved RRT algorithm.

關鍵字

Robot ； RRT algorithm ； Obstacle avoidance path ； Mathematica

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