Obstacle avoidance path planning of a dual-arm inspection robot based on an improved Lazy-PRM algorithm
ZHAN Hua
WU Tianquan
LIN Kaihuang
ZHANG Pai
ZHANG Jiexiong
Abstract：[Objective]Aiming at the problems of path redundancy,motion conflict,poor obstacle avoidance ability and low coordination in the path planning of dual-arm inspection robots,an obstacle avoidance path planning method based on an improved lazy probabilistic roadmap(Lazy-PRM)algorithm was proposed to enhance the operational reliability of robots in complex environments.[Methods]Firstly,the improved Denavit-Hartenberg(D-H)method and grid method were adopted to construct the kinematics model of the dual manipulators and the 3D voxel environment model of the workspace,providing a foundation for path planning.Secondly,attitude preferences for different manipulators were set to assist the selection of inverse kinematics solutions and ensure trajectory smoothness.Then,a roadmap was constructed by pseudo-random sampling points,and potential optimal paths were screened using a distributed evaluation function.Finally,collision detection was conducted to verify path feasibility,and quintic polynomial interpolation was used to optimize trajectory smoothness.[Results]Simulation and test results show that the path planned by the improved algorithm is the shortest(1 737.68 mm),which is 5.2%shorter than that of the RRT* algorithm and 20.5%shorter than that of the traditional Lazy-PRM algorithm;the manipulability reaches 0.218 6,which is superior to the comparison algorithms.No motion conflict occurs between the dual manipulators,and the roadmap can be reused,providing a reference for efficient obstacle avoidance path planning of dual-arm inspection robots.
Keywords：Dual-arm inspection robotLazy-PRM algorithmPath planningObstacle avoidance strategyEvaluation function
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 192-199 )