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Planning method and device of robot collision prevention path

A robot and path technology, applied in navigation calculation tools and other directions, can solve problems such as dependence on sampling parameters and discrete collision detection distance parameters

Active Publication Date: 2014-11-19
SHENZHEN INSTITUTE OF INFORMATION TECHNOLOGY +1
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Problems solved by technology

[0003] The embodiment of the present invention provides a planning method and device for a robot collision avoidance path, aiming at solving complex problems such as high-dimensional spaces and complex obstacle environments in the prior art, which rely heavily on selected sampling parameters and discrete collision detection The problem with the distance parameter

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  • Planning method and device of robot collision prevention path
  • Planning method and device of robot collision prevention path
  • Planning method and device of robot collision prevention path

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Embodiment 1

[0065] figure 1 The implementation flow of the planning method for robot collision avoidance path provided by Embodiment 1 of the present invention is shown, and the details are as follows:

[0066] In step S101, according to the initial configuration q of the robot s and the target configuration q g Calculate the initial value r of the collision detection distance parameter col .

[0067] In the embodiment of the present invention, the initial configuration q of the robot is first initialized s and the target configuration q g , and then according to the initial configuration q s and the target configuration q g Calculate the initial value r of the collision detection distance col , where the calculated r col satisfy:

[0068] r col =||q g -q s ||.

[0069] In step S102, according to the initial configuration q s , target configuration q g A bidirectional fast dense search tree is constructed, and the bidirectional fast dense search tree includes a forward fast...

Embodiment 2

[0136] Figure 8 A specific structural block diagram of the robot collision avoidance path planning device provided by Embodiment 2 of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown. The device 8 includes: a collision detection distance initialization unit 41 , a search tree construction unit 42 , a collision detection distance setting unit 43 , a planned path generation unit 44 , a collision detection unit 45 , a collision detection distance update unit 46 and a planned path update unit 47 .

[0137] Among them, the collision detection distance initialization unit 41 is used to s and the target configuration q g Calculate the initial value r of the collision detection distance parameter col ;

[0138] A search tree construction unit 42, configured to s , target configuration q g Constructing a bidirectional fast dense search tree, the bidirectional fast dense search tree comp...

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Abstract

The invention is suitable for the field of robot collision prevention and control, and provides a planning method and device of a robot collision prevention path. The method comprises the following steps: firstly, calculating according to an initial configuration qs and a target configuration qg of a robot so as to obtain an initial value rcol of a collision detection distance parameter; then constructing a bidirectional rapid intensive search tree according to qs and qg, and setting the value of a collision detection distance parameter of the bidirectional rapid intensive search tree to be rcol; then generating a robot planning path according to qs and qg; carrying out collision detection on the robot at discrete sampling configuration points respectively on the robot planning path, and updating the value rcol to be half of rcol if the robot collides with a barrier at one discrete configuration point; and generating a novel robot planning path according to the updated rcol until the robot does not collide with the barrier at all discrete configuration points on the new robot planning path. According to the invention, if the robot collides with the barrier, the collision detection distance parameter rcol can be adaptively reduced by half, so that the robot can successfully pass through a narrow channel or a barrier intensive space.

Description

technical field [0001] The invention belongs to the field of robot collision avoidance and control, and in particular relates to a planning method and device for robot collision avoidance paths. Background technique [0002] At present, sampling-based planning technology has been widely used in the fields of collision avoidance and manipulation of high-degree-of-freedom intelligent robots, and has become a research hotspot of widespread concern at home and abroad. The remarkable advantage of this method is that based on random sampling, it only needs to approximately construct the free configuration space, thereby avoiding the need to completely and accurately construct all effective C-space models by methods such as skeleton grids and grid decomposition, in order to find the results brought about by accurate analysis. The PSPACE problem avoids the NP problem of exponentially explosive growth of storage space and computation caused by high degrees of freedom. The two most t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李华忠梁永生但唐仁唐飞
Owner SHENZHEN INSTITUTE OF INFORMATION TECHNOLOGY
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