A Novel Planning and Tracking Approach for Mobile Robotic Arm in Obstacle Environment

IF 2.1 3区工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

Machines Pub Date : 2023-12-29 DOI:10.3390/machines12010019

Jiabin Yu, Jiguang Wu, Jiping Xu, Xiaoyi Wang, Xiaoyu Cui, Bingyi Wang, Zhiyao Zhao

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引用次数: 0

Abstract

In this study, a novel planning and tracking approach is proposed for a mobile robotic arm to grab objects in an obstacle environment. First, we developed an improved APF-RRT* algorithm for the motion planning of a mobile robotic arm. This algorithm optimizes the selection of random tree nodes and smoothing the path. The invalid branch and the planning time are decreased by the artificial potential field, which is determined by the specific characteristics of obstacles. Second, a Fuzzy-DDPG-PID controller is established for the mobile robotic arm to track the planned path. The parameters of the PID controller are set using the new DDPG algorithm, which integrated FNN. The response speed and control accuracy of the controller are enhanced. The error and time of tracking of the mobile robotic arm are decreased. The experiment results verify that the proposed approach has good planning and tracking results, high speed and accuracy, and strong robustness. To avoid the occasionality of the experiments and fully illustrate the effectiveness and generality of the proposed approach, the experiments are repeated multiple times. The experiment results demonstrate the effectiveness of the proposed approach. It outperforms existing planning and tracking approaches.

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障碍物环境中移动机械臂的新型规划和跟踪方法

本研究为移动机械臂在障碍物环境中抓取物体提出了一种新颖的规划和跟踪方法。首先，我们为移动机械臂的运动规划开发了一种改进的 APF-RRT* 算法。该算法优化了随机树节点的选择和路径平滑。人工势场由障碍物的具体特征决定，通过人工势场减少了无效分支和规划时间。其次，为移动机械臂建立模糊-DDPG-PID 控制器，以跟踪规划路径。PID 控制器的参数使用集成了 FNN 的新 DDPG 算法设定。控制器的响应速度和控制精度都得到了提高。减少了移动机械臂的误差和跟踪时间。实验结果验证了所提出的方法具有良好的规划和跟踪效果、较高的速度和精度以及较强的鲁棒性。为了避免实验的偶然性，充分说明所提方法的有效性和通用性，实验重复了多次。实验结果证明了所提方法的有效性。它优于现有的规划和跟踪方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Machines Multiple-

CiteScore

3.00

自引率

26.90%

发文量

1012

审稿时长

11 weeks

期刊介绍： Machines (ISSN 2075-1702) is an international, peer-reviewed journal on machinery and engineering. It publishes research articles, reviews, short communications and letters. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. Full experimental and/or methodical details must be provided. There are, in addition, unique features of this journal: *manuscripts regarding research proposals and research ideas will be particularly welcomed *electronic files or software regarding the full details of the calculation and experimental procedure - if unable to be published in a normal way - can be deposited as supplementary material Subject Areas: applications of automation, systems and control engineering, electronic engineering, mechanical engineering, computer engineering, mechatronics, robotics, industrial design, human-machine-interfaces, mechanical systems, machines and related components, machine vision, history of technology and industrial revolution, turbo machinery, machine diagnostics and prognostics (condition monitoring), machine design.