Blood coagulation analyzer dynamic barrier avoiding path planning method based on optimization artificial potential field method

An artificial potential field method and path planning technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem that the mobile robot cannot reach the target, not the local stable point of the entire potential field, and the mechanical arm The problem of not reaching and so on, to achieve the effect of solving the problem of local stable points, stable speed and smooth motion

Active Publication Date: 2016-10-12
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0005] However, there are two problems in the artificial potential field method: (1) there is a local stable point (or local minimum point, local optimum point) problem, which means that the mechanical arm of the mobile robot is balanced by the attractive and repulsive forces on the mechanical arm due to some factors, and reaches stability. , at this time, the robot will have a deadlock phenomenon, but at this time the mechanical arm has not reached the target point
(2) When there are obstacles near the target, the mobile robot will never reach the destination, specifically because in many previous studies, the target and obstacles are far away, when the robot approaches the target, the The repulsive force becomes very small, even negligible, and the robot will only be affected by the attractive force to reach the target. However, in many practical environments, t

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  • Blood coagulation analyzer dynamic barrier avoiding path planning method based on optimization artificial potential field method
  • Blood coagulation analyzer dynamic barrier avoiding path planning method based on optimization artificial potential field method
  • Blood coagulation analyzer dynamic barrier avoiding path planning method based on optimization artificial potential field method

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[0027] Such as figure 1 As shown, the method for dynamic obstacle avoidance path planning of a blood coagulometer based on the optimized artificial potential field method of this embodiment includes the following steps:

[0028] S1. Use the artificial potential field method to plan the real-time obstacle avoidance path for the movement of the blood coagulation instrument manipulator.

[0029] The function of the traditional potential field is:

[0030] The gravitational field is:

[0031] The repulsion field is:

[0032] Gravity is: F att (q)=-ζ(q-q g )

[0033] The repulsion is:

[0034] Where ρ g (q)=||q-q g || refers to the distance from the robot arm to the target, q, q g Refer to the positions of the robot arm and the target respectively, ζ and η are the proportional coefficients, ρ 0 Refers to the maximum range of the obstacle’s repulsive force, ρ(q) refers to the minimum distance between the obstacle and the robotic arm,

[0035] S2, real-time detection of whether the position...

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Abstract

The invention discloses a blood coagulation analyzer dynamic barrier avoiding path planning method based on an optimization artificial potential field method. The method comprises the following steps: performing real-time barrier avoiding path planning on a mechanical arm of a blood coagulation analyzer by use of the artificial potential field method; detecting in real time whether a position point which the mechanical arm of the blood coagulation analyzer reaches is a local stable point; and if the position point is a local stable point, respectively updating a gravitational field, an attractive force, a repulsive field and a repulsive force so as to break a stable state and enable the mechanical arm to run along a correct path and maintain the same movement trend with a target. The method is applied to path planning in a dynamic environment.

Description

technical field [0001] The invention relates to a path planning method for a blood coagulation meter, in particular to a dynamic obstacle avoidance path planning method for a blood coagulation meter based on an optimized artificial potential field method. Background technique [0002] Since the 20th century, with the rapid development of human civilization, it has promoted the in-depth research of human beings in the fields of life science and bioengineering, especially in the field of medicine. How to effectively and quickly detect and treat diseases is a key issue in the development process of human beings today. It is an important research topic, so the study of advanced medical testing instruments is of great significance to promote the development of laboratory medicine, and the blood coagulation instrument [Wang Xuefeng, Wang Hongli, blood coagulation analyzer [J], Modern Medical Instruments and Applications. 2000.12 (3): 7-10] greatly facilitated the task of the medic...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 王直付青
Owner JIANGSU UNIV OF SCI & TECH
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