Λεπτομέρειες βιβλιογραφικής εγγραφής
| Τίτλος: |
Spatial path planning for hydraulic turbine flow channels using an improved RRT algorithm. |
| Συγγραφείς: |
Xu, Xiangqian1 (AUTHOR) xqxu@xsyu.edu.cn, Suo, Yang1 (AUTHOR) 23211050712@stumail.xsyu.edu.cn |
| Πηγή: |
Robotic Intelligence & Automation (RIA). 2026, Vol. 46 Issue 4, p502-515. 14p. |
| Θεματικοί όροι: |
*Industrial robots, *Nondestructive testing, Robotic path planning, Hydraulic turbines, Cameras |
| Περίληψη: |
Purpose: The purpose of this study is to propose a path planning method based on an improved Rapidly-exploring Random Tree (RRT) algorithm to address the path planning challenges of robotic arms carrying inspection cameras in the complex and narrow flow channel spaces of hydraulic turbines. Design/methodology/approach: An improved RRT algorithm is developed, optimizing the tree expansion process by adopting a direction-guided strategy and adaptive step size adjustment. A probabilistic bias sampling factor is introduced to enhance the expansion direction and efficiency. Redundant points are removed using a stepwise checking method, and the inspection path is smoothed with Bézier curves. Simulation experiments are conducted in MATLAB using a 3D model of the turbine flow channel. Findings: The improved RRT algorithm reduces computation time by 88% compared to RRT-Connect and RRT-Extend, and is 71.6% faster than RRT-star. The path length is 97.89% shorter than RRT-Connect, 95.93% shorter than RRT-Extend and 80.89% fewer than RRT-star. The number of path nodes is 97.1% fewer than RRT-Connect, 97.6% fewer than RRT-Extend and 94% fewer than RRT-star. The algorithm achieves a 100% success rate, outperforming traditional path planning algorithms in overall performance. Practical implications: The improved RRT algorithm provides an efficient and feasible solution for robotic path planning in hydraulic turbine defect inspection, significantly reducing computation time and path length. Originality/value: The proposed improved RRT algorithm significantly enhances the efficiency and quality of path planning for robotic arms in narrow flow channel environments, offering a high-performance path planning solution for robotic defect inspection and applications. [ABSTRACT FROM AUTHOR] |
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| Βάση Δεδομένων: |
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