Path Planning of Sand Blasting Robot Based on Improved RRT Algorithm
Lianyu Zhao, Jianpeng Liu, Jutao Wang · 2019
In order to solve the problem that the sand blasting robot can complete the automatic/semi-automatic blasting in the blasting workshop according to the geometry of the blasting workpiece. This paper proposes a kind of adapt to the traversal of a variety of sandblasting workpieces and path planning methods for obstacle avoidance based on the fast extended random tree (RRT) algorithm. In particular, an improved method for trajectory planning for obstacle avoidance is proposed. Firstly, the sandblasting workpieces are divided into regions and the traversing trajectory planning of the sandblasting area according to the large-scale and diversity characteristics of sandblasting workpieces. Then, the improved RRT algorithm is used to plan the obstacle avoidance trajectory of the simulated traversal trajectory. Through the simulation verification of the method, it is possible to realize a comprehensive, safe, fast and accurate path planning for different blasting workpieces and with faster processing speed than traditional algorithms.