CAJ | 학술논문

针对机器人避碰运动规划问题,提出了基本RRT的改进算法。首先,研究了基本RRT算法思想,进而融合J-空间采样和C-空间建模技术,提出了提升性能稳定性和收敛速度的改进RRT算法;其次,利用分离轴原理,研究了基于OBB的碰撞检测算法,并将其成功集成到改进RRT判定C-空间的机器人与障碍物是否碰撞;最后,设计和实现了三维仿真系统软件框架,通过计算仿真验证了本文提出算法的有效性和稳定性。
침대궤기인피팽운동규화문제,제출료기본RRT적개진산법。수선,연구료기본RRT산법사상,진이융합J-공간채양화C-공간건모기술,제출료제승성능은정성화수렴속도적개진RRT산법;기차,이용분리축원리,연구료기우OBB적팽당검측산법,병장기성공집성도개진RRT판정C-공간적궤기인여장애물시부팽당;최후,설계화실현료삼유방진계통연건광가,통과계산방진험증료본문제출산법적유효성화은정성。
For collision avoidance motion planning problem for robot, improved algorithm of basic RRT (Rapidly Random-Exploring Trees) has been proposed. First, basic RRT algorithm has been researched, and thus by integration of the joint space(J-Space) sampling and the configuration space(C-Space) modeling techniques, improved RRT algorithm has been put forward in order to enhance performance stability and convergence speed. Second, collision detection algorithm based OBB(Oriented Bounding Box) has been studied by use of separating axis theorem, and has been successfully integrated into improved RRT to determine whether robot and obstacles collide in C-Space or not. Finally, three-dimensional simulation software framework has been designed and implemented, effectiveness and stability of the proposed algorithm has been verified by computer simulation.