Method for generation of dynamic early-warning domain based on artificial potential field
An artificial potential field method and dynamic early warning technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as affecting operation efficiency, inability to perceive the relative position information of robots and objects, etc., to achieve high efficiency and technology. The method is simple and easy to implement, and the effect of speeding up the collision detection speed and the interface refresh speed
Inactive Publication Date: 2013-10-30
SOUTH CHINA UNIV OF TECH
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This method can only obtain the collision between the robot and the environmental objects, but cannot perceive the relative position information between the robot and the object. Brings a lot of pressure, and non-intuitive information seriously affects operational efficiency
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[0025] The present invention is based on the artificial potential field method dynamic early-warning domain generation method, comprises the following steps:
[0026] S1. Discretization of space;
[0027] S2. Classification of spatial units;
[0028] S3, generating a dynamic early warning domain;
[0029] like figure 1 As shown, step S1 includes the following steps:
[0030] S1-1. Use the discrete method to fit the space where the object is located, and obtain a series of spatial units and discrete spatial points. The fineness of spatial discretization is related to the precision requirements of the early warning domain. The selected space size is larger than the object size and can be adjusted dynamically.
[0031] S1-2. According to the discrete points in the space, the space unit and the side length of the space unit, use the space coordinate system to locate each space unit. figure 1 A schematic diagram of the spatial discretization points for an object is given. fig...
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The invention discloses a method for generation of dynamic early-warning domain based on the artificial potential field. The method comprises the following steps: (1) discretizing a space; (2) dividing the discretized space units into such two categories as space units intersecting with objects and space units not intersecting with objects; and (3) generating an early-warning domain according to a set. The method is capable of generating the early-warning domain which can accurately calculate whether an intrusive object exists in the early-warning domain. In addition, the layers in which no intrusive objects exist are used as the safety layers, the distance of the outermost safety layer is used as the conservatively-estimated distance, and the precision of the conservatively-estimated distance changes along with the precision of the early-warning domain. The method has the advantage of effectiveness to the virtual objects with any complexity and any shapes and can obtain the real-time relative position of a robot relative to an environmental object.
Description
technical field [0001] The invention belongs to the field of robot early warning, in particular to a method for generating a dynamic early warning domain based on an artificial potential field method. Background technique [0002] With the development of robot technology becoming more and more mature, the application field of robots is also expanding continuously. However, the working environment of robots is correspondingly becoming more and more complex, which will pose a great safety hazard to the activities of robots in the working space. [0003] In order for the robot to perceive its own contact with the surrounding environment, one method is to install sensors on the robot to capture distance information in real time, but the sensor cannot perceive the relative position of each point of the robot to the surrounding environment. Another strategy is to use virtual reality technology to reproduce the real environment in the computer, and use fast collision detection tech...
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IPC IPC(8): G06F19/00
Inventor 杜广龙张平朱张斌
Owner SOUTH CHINA UNIV OF TECH