改进RRT*算法在多机械臂协同路径规划中的应用

The Application of Improved RRT* Algorithm in Cooperative Path Planning for Multiple Manipulators

摘要:

本文研究了多机械臂的协同路径规划问题，提出了一种基于改进RRT*算法的路径规划方法。通过设计采样区域生成系统、随机树生成系统及可行性与碰撞检测系统，本文实现了各机械臂在规划过程中的信息共享与协同路径生成。实验中，本文方法通过动态调整采样区域及路径规划策略，有效降低了路径冲突发生概率，验证了所提方法在不同任务下的自适应性及稳定性。实验结果表明，该方法能够满足多机械臂协同路径规划的需求，为多机械臂的复杂任务执行提供了可靠的路径规划方案。

Abstract:

This paper addresses the cooperative path planning problem for multi-arm robots and proposes a path planning method based on an improved RRT* algorithm. By designing a sampling region generation system, a random tree generation system, and a feasibility and collision detection system, the proposed method enables information sharing and coordinated path generation among multiple robotic arms during the planning process. In experiments, this method dynamically adjusts sampling regions and path planning strategies, effectively reducing the probability of path conflicts. The results demonstrate the adaptability and stability of the proposed approach across different tasks, meeting the requirements of cooperative path planning for multi-arm robots and providing a reliable solution for executing complex tasks.