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基于IRRT-Connect的连续体机器人在C空间中的避障规划

Obstacle-Avoidance Planning in C-Space for Continuum Manipulator Based on IRRT-Connect.

作者信息

Lang Yexing, Liu Jiaxin, Xiao Quan, Tang Jianeng, Chen Yuanke, Dian Songyi

机构信息

State Grid Electric Power Research Institute of Liaoning Electric Power Co., Ltd., Shenyang 110000, China.

College of Electrical Engineering, Sichuan University, Chengdu 610065, China.

出版信息

Sensors (Basel). 2025 May 13;25(10):3081. doi: 10.3390/s25103081.

DOI:10.3390/s25103081
PMID:40431874
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12115602/
Abstract

Aiming at the challenge of trajectory planning for a continuum manipulator in the confined spaces of gas-insulated switchgear (GIS) chambers during intelligent operation and maintenance of power equipment, this paper proposes a configuration space (C-space) obstacle-avoidance planning method based on an improved RRT-Connect algorithm. By constructing a virtual joint-space obstacle map, the collision-avoidance problem in Cartesian space is transformed into a joint-space path search problem, significantly reducing the computational burden of frequent inverse kinematics solutions inherent in traditional methods. Compared to the RRT-Connect algorithm, improvements in node expansion strategies and greedy optimization mechanisms effectively minimize redundant nodes and enhance path generation efficiency: the number of iterations is reduced by 68% and convergence speed is improved by 35%. Combined with polynomial-driven trajectory planning, the method successfully resolves and smoothens driving cable length variations, achieving efficient and stable control for both the end-effector and arm configuration of a dual-segment continuum manipulator. Simulation and experimental results demonstrate that the proposed algorithm rapidly generates collision-free arm configuration trajectories with high trajectory coincidence in typical GIS chamber scenarios, verifying its comprehensive advantages in real-time performance, safety, and motion smoothness. This work provides theoretical support for the application of continuum manipulator in precision operation and maintenance of power equipment.

摘要

针对电力设备智能运维过程中气体绝缘开关设备（GIS）室内受限空间内连续体机器人轨迹规划的挑战，本文提出了一种基于改进RRT-Connect算法的构型空间（C空间）避障规划方法。通过构建虚拟关节空间障碍地图，将笛卡尔空间中的避碰问题转化为关节空间路径搜索问题，显著降低了传统方法中频繁进行逆运动学求解的计算负担。与RRT-Connect算法相比，节点扩展策略和贪婪优化机制的改进有效减少了冗余节点，提高了路径生成效率：迭代次数减少了68%，收敛速度提高了35%。结合多项式驱动的轨迹规划，该方法成功解决并平滑了驱动电缆长度变化，实现了双段连续体机器人末端执行器和手臂构型的高效稳定控制。仿真和实验结果表明，该算法在典型GIS室场景中能快速生成无碰撞的手臂构型轨迹，轨迹重合度高，验证了其在实时性、安全性和运动平滑性方面的综合优势。这项工作为连续体机器人在电力设备精密运维中的应用提供了理论支持。

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本文引用的文献

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A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots.一种基于改进人工势场的连续体机器人预抓取运动规划方法。
Sensors (Basel). 2023 Nov 10;23(22):9105. doi: 10.3390/s23229105.
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On Hierarchical Multi-UAV Dubins Traveling Salesman Problem Paths in a Complex Obstacle Environment.
IEEE Trans Cybern. 2024 Jan;54(1):123-135. doi: 10.1109/TCYB.2023.3265926. Epub 2023 Dec 20.
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Computational Optimization of Notch Spacing for a Transnasal Ear Endoscopy Continuum Robot.经鼻耳内镜连续体机器人切口间距的计算优化
Int Symp Med Robot. 2020 Nov;2020:188-194. doi: 10.1109/ismr48331.2020.9312937. Epub 2021 Jan 11.
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Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.基于雅可比矩阵的磁共振成像驱动连续体机器人任务空间运动规划
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