摘要
针对狭窄通道中虚拟人手臂操控可拆卸单元的运动路径质量较低的问题,提出了一种约束条件下高维空间中的路径优化算法。该算法采用双向增量扩展RRT算法并结合虚拟人手臂的前向运动学策略快速规划一条初始路径。在运用修剪算法移除冗余位姿点的基础上,以一定的步长进行线性插补使路径有效,然后设计了一种位姿点间隙增大算法来增大路径间隙,并通过路径修正来保证其有效性。迭代运行位姿点间隙增大算法和路径修正可使路径间隙持续增大。仿真实验表明:路径优化算法能够规划出狭窄通道中虚拟人手臂操控规划的高质量路径。
To deal with the low path quality of dismantling the local replacement unit（LRU） by the virtual human arm in narrow passages, this paper proposes a path optimization algorithm based on some self-defined quality criteria. The algorithm creates an original path planned by RRT algorithm through the dual incremental expansion and with the rapid arm forward kinematical method. After re- moving the redundant configurations by use of the path pruning algorithm, it is interpolated into the path linearly with precision step to make it valid, and then, the algorithm used to improve the config- uration clearance is designed, and two new measures used to interpolate new configurations and re- move redundant configurations are proposed. The final process is iterated so that the path clearance can increase all the time. The experiments show that the proposed algorithm can get a high-quality path with high clearance for virtual human arm manipulation planning.
出处
《海军工程大学学报》
CAS
北大核心
2015年第6期87-92,共6页
Journal of Naval University of Engineering
关键词
虚拟人
操控规划
路径优化
virtual humans manipulation plannings path optimization
