Redundant robot dynamic obstacle avoidance method using pre-selected minimum distance index

Abstract

The invention relates to a redundant robot dynamic obstacle avoidance route planning method using a pre-selected minimum distance index under an obstacle random motion environment. The method includes steps of using an oriented bounding box (OBB) to model a redundant robot and establishing the pre-selected minimum distance index; rejecting safe rod pieces through an intersection testing before a real-time distance is calculated; using a local mapping distance calculation method and target point coordinate values to directly obtain a real-time minimum distance and determining impact point positions in a local coordinate system of corresponding rod pieces; and on this basis, establishing obstacle avoidance gains and escape velocities relevant to the minimum distance and using a null space mapping matrix of the redundant robot to plan obstacle avoidance routes. According to the redundant robot dynamic obstacle avoidance route planning method, the safe rod pieces are rejected before dynamic obstacle avoidance planning, unnecessary trivial calculations are removed, a distance calculation method is optimized, planning efficiencies of dynamic obstacle avoidance are improved, and real-time requirements are met.

Description

technical field [0001] The invention relates to a dynamic obstacle avoidance path planning method for a redundant robot with pre-selected minimum distance indicators in an environment where obstacles move randomly. distance. The invention does not need to calculate the minimum distances from obstacles to all rods, improves the planning efficiency of dynamic obstacle avoidance, and meets the real-time requirement. It belongs to the field of intelligent robot technology. Background technique [0002] A redundant robot means that the joint space dimension n is greater than the task space dimension m, and can achieve multiple secondary goals without affecting the end pose of the self-motion. As the task environment becomes more and more complex, redundant robots are required to have higher intelligence, and dynamic obstacle avoidance is an important part of robot autonomous path planning, which has increasingly become the focus of attention. [0003] At present, using the dis...

AI Technical Summary

Problems solved by technology

It can be seen that the traditional distance obstacle avoidance index is not accurate enough, and the calculation of multiple marker points consumes a lot of time

For traditional distance indicators, static obstacle avoidance planning can be completed, b

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