基于障碍物引导路径细化的机械臂路径规划

Mohamed G. B. Atia, Omar Salah, A. Fouly
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引用次数: 1

摘要

路径规划在机器人领域中是至关重要的,因为机器人需要一种快速的算法来开发最短路径,并且不与任何障碍物发生碰撞。为此,本文提出了一种基于障碍物引导路径优化(OGPR)的路径规划算法。为了说明新算法的优点和性能,在SCARA机器人模型上对OGPR和a *算法进行了比较。对比结果表明,OGPR算法在路径长度和计算时间上都优于A*算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Path Planning for Robot Manipulator based on Obstacle-Guided Path Refinement
The Path planning is essential in the field of robotics as robots require a fast algorithm to develop not only the shortest path but also free of collision with any obstacles. Therefore, this paper describes a novel path planning algorithm based on Obstacle-Guided Path Refinement (OGPR). To illustrate the benefits and performance of the new algorithm, a comparison is established between OGPR and A* based on implementation of the two algorithms with SCARA robot model. The results of this comparison show that OGPR algorithm over advantage A* in terms of the path length and the computational time.
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