Dynamic obstacle avoidance path planning method for blood coagulation instrument based on optimized artificial potential field method

Abstract

The invention discloses a method for planning a dynamic obstacle avoidance path of a blood coagulation instrument based on an optimized artificial potential field method. Whether the position reached by the robotic arm of the condensing instrument is a local stable point; if it is a local stable point, the gravitational field, attractive force, repulsive force field, and repulsive force are updated respectively, so as to break the stable state and make the mechanical arm run along the correct path, and Keep the same movement trend as the target. The invention is suitable for 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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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, there is often at least one obstacle that is very close to the target point. In this case, when When the mobile robot is approaching the target, it will also approach the obstacle. If the previous definition of the gravitational field function and the repulsive field function is used, the repulsive force will be much larger than the gravitational force, so the target point will not be a local stable point of the entire potential field. Therefore it will be impossible for the mobile robot to reach the target

[0006] In addition, in the past research, many path planning methods are applied to the static environment of the artificial potential field, that is, the target and obstacles are stationary, however, in practical applications, the environment in which the robot is located is mostly dynamic. , and not only the obstacles are moving, but even the target is moving

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