Dynamic obstacle avoidance path planning method based on improved mechanical arms D*

Abstract

The embodiment of the invention provides an obstacle avoidance path planning method based on improved mechanical arms D* for achieving dynamic obstacle avoidance path planning of mechanical arms. The method comprises the steps that all components of the mechanical arms and obstacles in the environment are converted into a cuboid envelope through a hierarchical bounding volume method, and a relevant algorithm is designed for achieving fast collision detection between the mechanical arms and between the mechanical arms and the environment; according to spatial mechanical arm characteristics, a path search algorithm based on a heuristic function is obtained; obstacle avoidance path planning applied to seven-freedom-degree mechanical arms D* is improved, and dynamic obstacle avoidance path planning of the seven-freedom-degree mechanical arms is completed. According to the technical scheme, the method is used for achieving dynamic obstacle avoidance path planning of the seven-freedom-degree mechanical arms based on the improved mechanical arms D*.

Description

【Technical field】 [0001] The invention relates to a collision detection technology of a multi-degree-of-freedom manipulator and a dynamic obstacle-avoiding path planning technology, in particular to a dynamic obstacle-avoiding path planning method for a seven-degree-of-freedom manipulator. 【Background technique】 [0002] In the ever-changing development trend of human science and technology, robot technology has become one of the inevitable development trends of high-tech with its wide range of applications, flexible use methods, and unique requirements in special operations, and has therefore been favored by various countries. More and more attention. In recent years, the application of robotics in the field of aerospace has become more and more important. There is no doubt that robotic arms play a vital role in aerospace. The working performance and stability of the manipulator directly affect many aspects of the on-orbit operation. [0003] Obstacle avoidance path plan...

AI Technical Summary

Problems solved by technology

At present, most of the research on obstacle avoidance path planning of manipulators does not consider the problem of real-time obstacle avoidance path planning and the situation of dynamic obstacles in the environment, resulting in related methods that cannot be generally applied to more complex scenarios.

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