Method using second order gradient information to improve artificial physical obstacle avoidance trajectory smoothness

A second-order gradient and trajectory smoothing technology, applied in the field of robotics, can solve the problems of increasing task execution time and energy consumption, and achieve the effect of less time consumption, less control parameters, and easy implementation

Inactive Publication Date: 2018-06-22
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

This defect will cause the robot to make a large number of unnecessary maneuvers, significantly increasing the time of task execution and energy consumption

Method used

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  • Method using second order gradient information to improve artificial physical obstacle avoidance trajectory smoothness
  • Method using second order gradient information to improve artificial physical obstacle avoidance trajectory smoothness
  • Method using second order gradient information to improve artificial physical obstacle avoidance trajectory smoothness

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Embodiment Construction

[0052] The following describes the implementation of the method for improving the smoothness of the artificial physical obstacle avoidance trajectory proposed by the present invention by using the second-order gradient information through specific examples, and verifies the performance of the method proposed by the present invention. The calculation software used in the example is MATLAB2009a, and the detailed implementation steps are as follows (the length units in the steps are all m).

[0053] Determine the robot's initial coordinates p robot (0)=(10,0) and target point coordinates p goal =(100,100), the maximum moving speed of the robot v max =1m / s, the gravitational constant G of the target point goal =1000, range of obstacle repulsion force R rep =2, barrier rejection coefficient G obs =100, virtual coefficient of friction f=0.2. Two calculation examples are set here: in calculation example 1, some circular obstacles are randomly arranged in a square space of 120m×1...

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Abstract

The invention discloses a method using second order gradient information to improve artificial physical obstacle avoidance trajectory smoothness and belongs to the technical field of robots. The method has the advantages that by parameter dynamic regulation, the obstacle avoidance route of a robot is rotated from a first order gradient descending direction to a second order Gaussian direction, andaccordingly the obstacle avoidance route smoothness of the robot is increased; the moving directions of the robot is regulated by using the second order gradient information of a conservative force field, and the performance of an original algorithm is further improved by dynamically regulating parameters; compared with an original artificial physical method, the method can obtain smooth robot obstacle avoidance routes and achieve fast obstacle avoidance; the method is an effective technical approach for achieving robot moving route guidance and obstacle avoidance in a narrow space and is applicable to the technical fields such as aircraft route planing and unmanned vehicle guidance.

Description

technical field [0001] The invention proposes a method for improving the smoothness of artificial physical obstacle avoidance trajectory by using second-order gradient information, which belongs to the technical field of robots. Background technique [0002] In the process of autonomous movement, the robot will encounter various obstacles or unfeasible areas, so it needs to have the ability of real-time emergency obstacle avoidance. The artificial physics method is an effective method to solve the problem of robot obstacle avoidance. It does not need to construct complex potential field functions, and directly constructs the virtual physical force on the robot, so it is simpler and has clear physical meaning. [0003] Considering that the ground robot is free on a two-dimensional plane, its dynamic characteristics are described by the following differential equations: [0004] [0005] In the formula, p=(x,y) is the position coordinate of the robot, v=(v x ,v y ) is th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D2201/0217
Inventor 张祥银贾松敏郭聪李秀智张国梁
Owner BEIJING UNIV OF TECH
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