A dynamic obstacle avoidance path planning method for a multi-degree-of-freedom manipulator based on an improved artificial potential field method

Abstract

The invention discloses a multi-degree-of-freedom mechanical arm dynamic obstacle avoidance path planning method based on an improved artificial potential field. The method comprises the following steps that the position and speed information of a target at the current moment are utilized to construct an attraction speed at the tail end of a mechanical arm; position information of an obstacle at the current moment and the previous moment is utilized to construct a repulsion speed at the point closest to the obstacle on the mechanical arm; then, the mapping relation between the Cartesian spaceand the mechanical arm joint space is obtained, and the attraction speed and the repulsion speed are mapped to the joint space for vector synthesis to be used for dynamic obstacle avoidance planning of the mechanical arm; in the motion process of the mechanical arm, whether the mechanical arm falls into a local minimum value point or not is detected in real time; and if the mechanical arm falls into the local minimum value, a virtual obstacle is added to enable the mechanical arm to jump out of the local minimum value, so that the mechanical arm continues moving and tracks the dynamic target.According to the multi-degree-of-freedom mechanical arm dynamic obstacle avoidance path planning method based on the improved artificial potential field, the mapping of the Cartesian space obstacle tothe mechanical arm joint space is avoided, the calculation complexity is reduced, and the artificial potential field can be applied to the multi-degree-of-freedom mechanical arm.

Description

technical field [0001] The invention relates to the field of path planning of a multi-degree-of-freedom manipulator, in particular to a dynamic obstacle-avoiding path planning method for a multi-degree-of-freedom manipulator based on an improved artificial potential field method. Background technique [0002] In traditional industrial production, the robotic arm is mainly used for a single assembly line task, and its operation depends on the operator's teaching and programming, which is a method with low efficiency and poor adaptability. When the working environment of the robotic arm changes, its inability to effectively avoid obstacles may lead to serious safety accidents. With the development of service robots, people require manipulators to work in more complex environments, such as human-machine collaboration, space station maintenance, etc. This requires that the robot arm can plan the path in real time according to the environment, ensure that it reaches the target p...

AI Technical Summary

Problems solved by technology

The artificial potential field method is simple in structure and easy to use, and has obvious advantages in dynamic obstacle avoidance and dynamic target tracking, etc., but it is mainly used for mobile robots. The multi-link structure of the manipulator makes its application more difficult, and there are local minima question

Images