CHEN C C, LIU Y, WANG G.Obstacle avoidance planning of mobile manipulator based on ACO-RRT[J].Journal of Henan Polytechnic University(Natural Science) ,2023,42(3):95-102.

doi:10.16186/j.cnki.1673-9787.2021110013

Received:2021/11/02

Revised:2021/12/24

Published:2023/05/25

Obstacle avoidance planning of mobile manipulator based on ACO-RRT

CHEN Chunchao, LIU Yi, WANG Geng

School of Mechanical and Dynamic Engineering，Henan Polytechnic University，Jiaozuo 454000，Henan，China

Abstract:In an environment full of obstacles，the path planning of mobile manipulators based on random sampling RRT algorithm and RRT* algorithm usually have problems such as the high cost of path and the slow speed of solution.In order to solve the above problems of RRT and RRT*，ACO heuristics were integrated into RRT algorithm to form ACO-RRT algorithm，and were set with different values in different scenarios to solve the shortest path problem by modifying the sampling strategy in this paper.Then，a new utility function was defined to balance the distribution rate of exploration function and development function，the utility function made the sampling more frequent where increased.Finally，by comparing the number of iterations，path cost and solution speed，ACO-RRT，RRT and RRT* algorithms were evaluated in the same obstacle environment.It was shown that the ACO-RRT algorithm solved the problems of the RRT algorithm and the RRT* algorithm，and its performance was better than the current mature RRT and RRT*.

Key words:mobile manipulator;obstacle avoidance planning;RRT algorithm;RRT* algorithm;ACO algorithm;utility function

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