Scientia Silvae Sinicae ›› 2021, Vol. 57 ›› Issue (2): 179-192.doi: 10.11707/j.1001-7488.20210218
• Scientific notes • Previous Articles
Yinghao Yang1,2,Jinhao Liu1,2,*,Yili Zheng1,Qingqing Huang1,2
Received:
2020-06-28
Online:
2021-02-25
Published:
2021-03-29
Contact:
Jinhao Liu
CLC Number:
Yinghao Yang,Jinhao Liu,Yili Zheng,Qingqing Huang. Obstacle Avoidance Path Planning of Manipulator of Forestry Felling & Cultivation Machine[J]. Scientia Silvae Sinicae, 2021, 57(2): 179-192.
Table 2
Experimental parameters of the manipulator"
参数名称Parameter name | 相关取值Related values |
初始点Initial | (65,35,45),(8,8,8) |
目标点Target | (-79,43,-15),(92,92,92) |
初始角度Initial angle /(rad·dm-1) | [0.493 9 0.584 4 0.423 4 -1.018 1 1.570 8 1.410 0] |
扩展步长Expansion step /dm | 2 |
引力增量(ks) Gravity increment | 2 |
斥力增量(kp) Repulsion increment | 10 |
限制增量(kx) Limit increment | 0.9 |
偏执概率(k) Paranoid probability | 0.5 |
Table 3
Comparison of algorithm time and iteration steps"
算法 | Algorithm | 地图1 Map one | 地图2 Map two | 地图3 Map three | 地图4 Map four | 平均 Avg. | |||||||||||
最小 Min. | 最大 Max. | 平均 Avg. | 最小 Min. | 最大 Max. | 平均 Avg. | 最小 Min. | 最大 Max. | 平均 Avg. | 最小 Min. | 最大 Max. | 平均 Avg. | ||||||
RRT | 时间Time/s | 4.85 | 17.59 | 9.29 | 5.67 | 15.92 | 9.31 | 3.09 | 16.37 | 9.40 | 4.22 | 31.90 | 14.92 | 10.73 | |||
次数Steps/s | 773 | 2 084 | 1 239 | 854 | 1 931 | 1 238 | 506 | 1 909 | 1 208 | 661 | 2 828 | 1 655 | 1 335 | ||||
LRRT | 时间Time/s | 0.59 | 1.76 | 1.22 | 0.52 | 0.91 | 0.71 | 0.44 | 1.48 | 0.83 | 0.27 | 1.77 | 0.95 | 0.93 | |||
次数Steps/s | 48 | 82 | 70 | 56 | 67 | 69 | 58 | 91 | 82 | 40 | 189 | 111 | 83 | ||||
HRRT | 时间Time/s | 0.47 | 0.98 | 0.63 | 0.36 | 1.22 | 0.79 | 0.36 | 1.55 | 1.07 | 0.26 | 4.13 | 1.59 | 1.02 | |||
次数Steps/s | 45 | 63 | 56 | 47 | 97 | 65 | 49 | 88 | 79 | 37 | 227 | 108 | 77 | ||||
biRRT | 时间Time/s | 0.52 | 1.11 | 0.87 | 0.51 | 1.09 | 0.72 | 0.31 | 1.16 | 0.66 | 0.41 | 0.99 | 0.70 | 0.74 | |||
次数Steps/s | 94 | 183 | 143 | 86 | 108 | 113 | 55 | 187 | 108 | 74 | 165 | 114 | 119 | ||||
A-RRT | 时间Time/s | 0.31 | 0.64 | 0.49 | 0.21 | 0.50 | 0.36 | 0.16 | 0.69 | 0.43 | 0.32 | 0.71 | 0.47 | 0.44 | |||
次数Steps | 56 | 95 | 75 | 42 | 62 | 56 | 29 | 70 | 56 | 38 | 44 | 48 | 59 |
鲍际平, 刘晋浩, 魏占国, 等. CFJ30轮式采伐联合机底盘传动方案的研究. 湖北农业科学, 2009, 48 (10): 2573- 2575, 2580.
doi: 10.3969/j.issn.0439-8114.2009.10.077 |
|
Bao J P , Liu J H , Wei Z G , et al. Study on the transmission scheme of CFJ30 wheeled log harvester chassis. Hubei Agricultural Sciences, 2009, 48 (10): 2573- 2575, 2580.
doi: 10.3969/j.issn.0439-8114.2009.10.077 |
|
陈满意, 张桥, 张弓, 等. 多障碍环境下机械臂避障路径规划的研究. 计算机集成制造系统, 2019, | |
Chen M Y , Zhang Q , Zhang G , et al. Research on obstacle avoidance path planning of manipulator in multiple obstacles environment. Computer Integrated Manufacturing Systems, 2019, | |
耿志斌, 姜树海, 崔嵩鹤. 林木采伐及木材精深加工机器人研究进展. 世界林业研究, 2020, 33 (5): 53- 58. | |
Geng Z B , Jiang S H , Cui S H . Research on robot for forest harvesting and wood deep processing. World Forestry Research, 2020, 33 (5): 53- 58. | |
姬伟, 程风仪, 赵德安, 等. 基于改进人工势场的苹果采摘机器人机械手避障方法. 农业机械学报, 2013, 44 (11): 253- 259.
doi: 10.6041/j.issn.1000-1298.2013.11.043 |
|
Ji W , Cheng F Y , Zhao D A , et al. Obstacle avoidance method of apple harvesting robot manipulator. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44 (11): 253- 259.
doi: 10.6041/j.issn.1000-1298.2013.11.043 |
|
廖旭恩. 如何开展林业机械采伐有效提高作业效率. 林业勘查设计, 2019, (1): 102- 103. | |
Liao X E . How to carry out forestry machinery harvesting to effectively improve work efficiency. Forest Investigation Design, 2019, (1): 102- 103. | |
刘成菊, 韩俊强, 安康. 基于改进RRT算法的RoboCup机器人动态路径规划. 机器人, 2017, 39 (1): 8- 15. | |
Liu C J , Han J Q , An K . Dynamic path planning based on an improved RRT algorithm for RoboCup robot. Robot, 2017, 39 (1): 8- 15. | |
刘延鹤, 傅万四, 张彬, 等. 林业机器人发展现状与未来趋势. 世界林业研究, 2020, 33 (1): 38- 43. | |
Liu Y H , Fu W S , Zhang B , et al. Development status and future trends of forestry robots. World Forestry Research, 2020, 33 (1): 38- 43. | |
彭光宇, 董洪波, 马斌. 两种DH模型的机器人运动学建模对比研究. 机械研究与应用, 2019, 32 (6): 62- 65. | |
Peng G Y , Dong H B , Ma B . Comparative study of robot kinematics modeling based on two DH models. Mechanical Research & Application, 2019, 32 (6): 62- 65. | |
彭云龙, 张伟, 张艳, 等. 我国森林抚育现状分析及对策研究. 河北农机, 2018, (7): 49. | |
Peng Y L , Zhang W , Zhang Y , et al. Analysis of current situation of forest tending in my country and countermeasures. Hebei Agricultural Machinery, 2018, (7): 49. | |
戚春华, 朱守林, 王效亮, 等. 森林采运作业环境成本分析. 森林工程, 2003, (6): 3- 5.
doi: 10.3969/j.issn.1001-005X.2003.06.002 |
|
Qi C H , Zhu S L , Wang X L , et al. Environmental costs of forest operations. Forest Engineering, 2003, (6): 3- 5.
doi: 10.3969/j.issn.1001-005X.2003.06.002 |
|
汪首坤, 邸智, 王军政, 等. 基于A*改进算法的机械臂避障路径规划. 北京理工大学学报, 2011, 31 (11): 1302- 1306. | |
Wang S K , Di Z , Wang J Z , et al. Path planning method for manipulator to avoid obstacle based on advanced A* algorithm. Transactions of Beijing Institute of Technology, 2011, 31 (11): 1302- 1306. | |
熊有伦. 机器人技术基础. 武汉: 华中科技大学出版社, 1996. | |
Xiong Y L . Fundamentals of robot techniques. Wuhan: Huazhong University of Science and Technology Press, 1996. | |
徐海燕, 姜树海. 森林作业机器人研究动态. 世界林业研究, 2017, 30 (2): 51- 55. | |
Xu H Y , Jiang S H . Research trend of forest operating robots. World Forestry Research, 2017, 30 (2): 51- 55. | |
许晓东, 莫晓勇, 邓海燕, 等. 桉树人工林抚育间伐优化模型. 福建农林大学学报: 自然科学版, 2020, 49 (3): 341- 347. | |
Xu X D , Mo X Y , Deng H Y , et al. Optimizing models of tending and thinning for Eucalyptus plantation. Journal of Fujian Agriculture and Forestry University: Natural Science Edition, 2020, 49 (3): 341- 347. | |
尹斌. 冗余机械臂运动学及避障路径规划研究. 哈尔滨: 哈尔滨工业大学硕士学位论文, 2014, | |
Yin B . Research on kinematics and obstacle avoidance path planning for redundant manipulator. Harbin: MS thesis of Harbin Institute of Technology, 2014, | |
由弘扬, 贺帅, 刘宏伟, 等. 基于bi_RRT算法的九自由度机械臂路径规划. 计算机仿真, 2019, 36 (7): 308- 313. | |
You H Y , He S , Liu H W , et al. The mechanical arm of 9-dof path planning based on bi_RRT algorithm. Computer Simulation, 2019, 36 (7): 308- 313. | |
余卓平, 李奕姗, 熊璐. 无人车运动规划算法综述. 同济大学学报: 自然科学版, 2017, (8): 1150- 1159. | |
Yu Z P , Li Y S , Xiong L . A review of the motion planning problem of autonomous vehicle. Journal of Tongji University: Natural Science, 2017, (8): 1150- 1159. | |
赵玉刚, 李伟, 郭峰, 等. 基于Cox-de Boor递推的任意次NURBS曲线插补算法的研究与仿真. 组合机床与自动化加工技术, 2012, (6): 45- 48. | |
Zhao Y G , Li W , Guo F , et al. The random degree NURBS curve interpolation and simulation based on Cox-de Boor algorithm. Modular Machine Tool & Automatic Manufacturing Technique, 2012, (6): 45- 48. | |
周国相, 吴立东, 王玉林. 对森林抚育采伐的目的及效果的分析. 林业勘查设计, 2004, (1): 12- 13. | |
Zhou G X , Wu L D , Wang Y L . Analysis on the purpose and effect of forest tending and harvesting. Forest Investigation Design, 2004, (1): 12- 13. | |
周玉申. 先进的林业技术装备是现代林业建设的支撑和保证. 木材加工机械, 2011, 22 (4): 27- 29, 39. | |
Zhou Y S . The advanced forestry technical equipment is the support and guarantee of modern forestry construction. Forestry and Grassland Machinery, 2011, 22 (4): 27- 29, 39. | |
朱宏辉, 明瑞冬, 朱轶. 基于改进RRT*算法的路径规划. 武汉理工大学学报, 2017, 39 (2): 72- 76. | |
Zhu H W , Ming R D , Zhu Y . Path planning based on improved RRT* algorithm. Journal of Wuhan University of Technology, 2017, 39 (2): 72- 76. | |
祝敬, 杨马英. 基于改进人工势场法的机械臂避障路径规划. 计算机测量与控制, 2018, 26 (10): 205- 210. | |
Zhu J , Yang M Y . Path planning of manipulator to avoid obstacle based on improved artificial potential field method. Computer Measurement & Control, 2018, 26 (10): 205- 210. | |
Brockerhoff E G , Jactel H , Parrotta J A , et al. Plantation forests and biodiversity: oxymoron or opportunity?. Biodiversity and Conservation, 2008, 17 (5): 925- 951. | |
Chan T F , Dubey R V . A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators. Transactions on Robotics and Automation, IEEE, 1995, 11 (2): 286- 292. | |
Dong X , Mendoza-Trejo O , Morales D O , et al. Simulation-based comparison between two crane-bunk systems for loading work when considering energy-optimal motion planning. International Journal of Forest Engineering, 2019, 31 (1): 70- 77. | |
Dubey R V , Euler J A , Babcock S M . Real-time implementation of an optimization scheme for seven-degree-of-freedom redundant manipulators. Transactions on Robotics and Automation, IEEE, 1991, 7 (5): 579- 588. | |
Hartenberg R S , Denavit J . A kinematic notation for lower pair mechanisms based on matrices. Journal of Applied Mechanics, 1955, 77 (2): 215- 221. | |
Hera P L , Morales D O . What do we observe when we equip a forestry crane with motion sensors?. Croatian Journal of Forest Engineering, 2019, 40 (2): 259- 280. | |
Kim D H , Lim S J , Lee D . A RRT-based motion planning of dual-arm robot for(Dis) assembly tasks. International Symposium on Robotics, IEEE, 2014, 1- 6. | |
LaValle S M . Rapidly-exploring random trees: a new tool for path planning. Algorithmic & Comutational Robotics New Directions, 1998, 1 (1): 293- 308. | |
Mohamed H A F , Yahya S , Moghavvemi M , et al. A new inverse kinematics method for three dimensional redundant manipulator. The International Conference on Control, Automation, and Systems, IEEE, 2009, 1557- 1562. | |
Morales D O , La Hera P , Westerberg S , et al. Path-constrained motion analysis: an algorithm to understand human performance on hydraulic manipulators. Transactions on Human-Machine Systems, IEEE, 2014, 45 (2): 187- 199. | |
Morales D O , Westerberg S , Hera P X L , et al. Increasing the level of automation in the forestry logging process with crane trajectory planning and control. Journal of Field Robotics, 2014, 31 (3): 343- 363. | |
Oyama E , Agah A , MacDorman K F , et al. A modular neural network architecture for inverse kinematics model learning. Neurocomputing, 2001, 38, 797- 805. | |
Ratcliffe S , Holzwarth F , Nadrowski K , et al. Tree neighbourhood matters-tree species composition drives diversity-productivity patterns in a near-natural beech forest. Forest Ecology and Management, 2015, 335, 225- 234. | |
Sheng L , Yiqing W , Qingwei C , et al. A new geometrical method for the inverse kinematics of the hyper-redundant manipulators. International Conference on Robotics and Biomimetics, IEEE, 2006, 1356- 1359. | |
Urmson C , Simmons R . Approaches for heuristically biasing RRT growth. International Conference on Intelligent Robots and Systems, IEEE, 2003, 1178- 1183. | |
Weghe M V , Ferguson D , Srinivasa S S . Randomized path planning for redundant manipulators without inverse kinematics. International Conference on Humanoid Robots, IEEE, 2007, 477- 482. | |
Xia Y , Wang J . A dual neural network for kinematic control of redundant robot manipulators. Transactions on Systems, Man, and Cybernetics, Part B(Cybernetics), IEEE, 2001, 31 (1): 147- 154. |
[1] | Liu Jinhao;Lu Huaimin. MANUFACTURE AND STUDY OF THE ROBOT OF EXCAVATING TREE STUMP [J]. Scientia Silvae Sinicae, 2003, 39(4): 113-117. |
Viewed | ||||||
Full text |
|
|||||
Abstract |
|
|||||