相关实验视频
Updated: Jan 18, 2026
10:09
Operation of the Collaborative Composite Manufacturing CCM System
Published on: October 1, 2019
7.1K
快速路径规划用于机器人操纵器运动的动力平滑
Hui Liu1, Yunfan Li1, Zhaofeng Yang1
1School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China.
Sensors (Basel, Switzerland)
|September 13, 2025
概括
这项研究引入了一种新的算法,KSBB-P-RRT*,用于机器人路径规划,该算法集成了运动控制,以防止冲击和振动. 增强的算法提高了效率,降低了路径成本,使其适合精密机器人.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制工程 控制工程 控制工程
- 人工智能的人工智能
背景情况:
- 快速探索随机树星 (RRT*) 算法是机器人操纵器路径规划的常见选择.
- 然而,RRT*本质上没有解决运动控制,导致潜在的问题,如冲击和振动,降低准确性和稳定性.
研究的目的:
- 提出一种新的算法,即动态平滑,动态偏差双向潜在引导RRT* (KSBB-P-RRT*),它统一了路径规划和运动控制.
- 通过解决现有的RRT*算法的局限性,提高机器人路径规划的效率和稳定性.
主要方法:
- 开发了KSBB-P-RRT*算法,其中包含三个关键创新:使用Bi-RRT*进行快速路径搜索策略,具有自适应性采样和转向,基于三角形不等式的优化以减少路点,以及使用Jerk-Continuous S-Curve的动态约束光滑策略.
- 集成路径规划与运动控制,以确保流和可执行的轨迹.
主要成果:
- 与Bi-RRT*相比,模拟表明KSBB-P-RRT*至少减少了30%的规划时间和至少3%的路径成本.
- 该算法需要更少的代,这表明效率和有效性得到了提高.
结论:
- 该KSBB-P-RRT*算法成功地集成了路径规划和运动控制,提供更平稳,更稳定的轨迹.
- 其已证明的有效性和适合复杂,精确要求的应用,如农业机器人,突出其实际价值.
相关概念视频
01:15Kinematic Equations: Problem Solving
27.3K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
27.3K
01:22Planar Rigid-Body Motion
984
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
984
01:29Relative Motion Analysis using Rotating Axes-Problem Solving
704
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
704
01:24Absolute Motion Analysis- General Plane Motion
539
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
539
01:17Kinematic Equations - II
13.0K
The second kinematic equation expresses the final position of an object in terms of its initial position, the distance traveled with the initial constant velocity, and the distance traveled due to a change in velocity. Similar to the first kinematic equation, this equation is also only valid when the acceleration is constant throughout the motion of an object.
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
13.0K
01:26Kinematic Equations - I
14.3K
When an object moves with constant acceleration, the velocity of the object changes at a constant rate throughout the motion. The kinematic equations of motions are derived for such cases where the acceleration of the object is constant. The first kinematic equation gives an insight into the relationship between velocity, acceleration, and time. We can see, for example:
14.3K