摘要
在C-Retraction算法的基础上,针对舰船装配拆卸中的可拆卸单元提出了一种高维空间中的路径间隙优化算法。首先,采用RRTConCon算法规划一条原始路径,将路径以一定的步长进行插补使其有效;然后,通过构建随机方向向量来增大位姿点间隙,并通过改进方法插补新位姿点和删除冗余位姿点来保证路径的有效性;最后,迭代运行该过程直到路径间隙不再增大。仿真实验表明:该算法能够得到可拆卸单元的大间隙路径,提高路径质量。
This paper proposes a path clearance optimization algorithm based on C-Retraction algo- rithm for local replacement unit （LRU）in the high-dimensional configuration space in the assembly and disassembly of a ship. First, the method is used for planning an original path by RRTConCon al- gorithm and the path is interpolated with precision step. Then, a random direction vector is designed to the configurations move along it to increase configuration clearance. And the improved method is proposed to interpolate new configurations and remove redundant configurations. Finally, the process is iterated so as not＇to make the path clearance increase any more. The experiments show that the pro- posed method can get a large clearance for LRU and improve the quality of the path.
出处
《海军工程大学学报》
CAS
北大核心
2015年第4期108-112,共5页
Journal of Naval University of Engineering
关键词
路径规划
路径优化
路径间隙
高维空间
path planning
path optimization
path clearance
high-dimensional configuration space
