关键词: 虚拟人上肢, 运动路径规划, RRT-Connect算法, 人机工效学, 人工鱼群算法

Abstract: To solve the pose planning problem of virtual human maintenance operation in a virtual maintenance simulation environment,a virtual human upper limb operation method based on an improved Rapidly-exploring Random Trees(RRT)-Connect algorithm was proposed.In this solution,the foraging behavior rule of Artificial Fish  Swarm Algorithm(AFSA) was introduced into the traditional RT-Connect algorithm as a guiding strategy,so that the expansion of the initial point and the target point in the path planning task was oriented.The path point was used as the motion track point of the virtual human upper limb terminal joint.To obtain the virtual human maintenance attitude,inverse kinematics were used to derive the attitude set in accordance with the degree of freedom of the human joint in each path point.In addition,to select the optimal path of pose concentration,the fast upper limb evaluation method was used to obtain the optimal pose of virtual human upper limb maintenance.The feasibility of this method in virtual maintenance applications was verified by taking a virtual maintenance operation simulation of the unmanned boat as an example.

Key words: virtual human upper limb, motion path planning, rapidly-exploring random trees-connect algorithm , human-machine ergonomics, artificial fish swam algorithm