CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
基于改进RRT算法在ROS中的机械臂避障运动规划研究
Authors
张景涛
曹毅
+3 more
李磊
赵璞
郭银辉
Publication date
1 January 2022
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
针对基于目标偏向的RRT算法在复杂环境下易陷入局部搜索与搜索效率低的不足,在ROS中分别基于Dobot模型和DIY模型,对算法做出进一步的改进。在创建机械臂模型基础上,利用MoveIt!对其进行配置,并通过简化模型来提高碰撞检测效率;在基于目标偏向RRT算法的基础上,分别引入扩展目标变更策略和可变步长对算法进行改进;在ROS中分别进行了不同形态障碍物环境下的避障运动规划仿真;在样机上进行了避障和避障抓取实验。仿真及实验结果表明,提出的改进RRT算法相比基于目标偏向的RRT算法,规划成功率和效率分别可提高42.9%和29.2%
Similar works
Full text
Available Versions
Directory of Open Access Journals
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:doaj.org/article:66be58e57...
Last time updated on 06/04/2023