A planning method and device for robot collision avoidance path
A robot and path technology, applied in the direction of navigation calculation tools, etc., can solve problems such as dependence on sampling parameters and discrete collision detection distance parameters
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Embodiment 1
[0065] figure 1 The implementation process of the method for planning a robot collision avoidance path provided by the first embodiment 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 initialized first. 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 ...
Embodiment 2
[0136] Figure 8 A specific structural block diagram of the apparatus for planning a collision avoidance path of a robot provided by Embodiment 2 of the present invention is shown. For convenience of description, only 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 for 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 ;
[0138] The search tree construction unit 42 is used for according to the initial configuration q s , target configuration q ...
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