摘要
以第2代全海深作业型无人潜水器“逐梦号”研制为背景,为实现“逐梦号”机械臂的运动和避障功能研究,采用ROS系统搭建机械臂仿真平台,利用ROS中的Move It模块搭建仿真环境,完成对机械臂模型的运动学配置。对RRT算法及其扩展算法的运动进行运动仿真分析和比较研究,在真实环境中检验运动规划算法的规划能力,以实现对不同障碍物场景下规划成功率、规划时间以及数据采样等方面的对比分析。结果表明:RRT-Connect算法在简单和复杂环境下的规划成功率、规划时间及采样点等方面相较另外2种算法都有明显优势,且经验证,RRT-Connect算法在真实环境下的控制精度符合要求,该算法更加适用于基于ROS的深海机械臂的运动规划。研究成果可为开发全海深作业型无人潜水器机械臂的运动规划及避障控制系统提供理论依据。
Taking the development of the second generation full-ocean-depth unmanned submersible as the background,in order to realize the motion optimization and obstacle avoidance function of the manipulator,the simulation platform is built by using ROS system,and the simulation environment is realized by using Move It module in ROS to complete the kinematic configuration of the model.The present paper carries out motion simulation analysis and comparative research on the planning ability of RRT algorithm and its extended algorithms.The planning ability is also tested in real environment,so as to using it for realizing the comparative analysis of planning success rate,planning time and data sampling under different obstacle scenes.The results show that the RRT connect algorithm has obvious advantages over the other two algorithms in terms of planning success rate,planning time and sampling points in the face of simple and complex environments.It is verified that the control accuracy of RRT connect algorithm in the real environment meets the requirements.The algorithm is more suitable for the motion planning of deep-sea manipulator based on ROS.The research results provide a theoretical basis for the development of motion planning and obstacle avoidance control system of the manipulator used in deep-sea unmanned submersibles.
作者
丁健
吴瑜
王芳
罗瑞龙
姜哲
罗高生
DING Jian;WU Yu;WANG Fang;LUO Ruilong;JIANG Zhe;LUO Gaosheng(Shanghai Ocean University,Shanghai Engineering Research Center of Hadal Science and Technology,College of Marine Sciences,Shanghai 201306,China;Shanghai Ocean University,Shanghai Engineering Research Center of Marine Renewable Energy,College of Engineering Science and Technology,Shanghai 201306,China)
出处
《船舶工程》
CSCD
北大核心
2022年第S01期637-643,共7页
Ship Engineering
基金
国家自然科学基金面上项目(52071203)
上海市科委科技计划项目(20dz1206500)
上海市科委自然科学基金面上项目(19ZR1422700)
上海海洋大学、西湖大学和上海叔同深渊科学技术发展基金会联合立项项目(HAST-2018-01)
关键词
运动规划
ROS系统
万米无人潜水器
机械臂
motion planning
ROS system
full-ocean-depth unmanned submersible
manipulator
