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Motion planning method, device, device and computer-readable storage medium

A technology of motion planning and moving parts, applied in transportation and packaging, motor vehicles, non-electric variable control, etc., can solve problems such as route planning failure, falling into local extreme points, etc.

Active Publication Date: 2021-11-09
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a motion planning method, device, equipment, and computer-readable storage medium to solve the problem that the artificial potential field method in the prior art may fall into a local extreme point, resulting in the failure of route planning

Method used

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  • Motion planning method, device, device and computer-readable storage medium
  • Motion planning method, device, device and computer-readable storage medium
  • Motion planning method, device, device and computer-readable storage medium

Examples

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Embodiment Construction

[0037] figure 1 It is a flowchart of a motion planning method shown in an exemplary embodiment of the present invention.

[0038] Such as figure 1 As shown, the motion planning method provided in this embodiment includes:

[0039] Step 101, acquire the initial state of the moving parts of the movable platform, and add the initial state to the path list.

[0040] Wherein, the method provided in this embodiment can plan the motion state for the moving parts of the movable mechanical platform. For example, the state of each joint of the robot arm, the motion state of the leg of the robot, etc. For a robotic arm, the state refers to the state value of each joint in the robotic arm. For example, in a four-axis robotic arm, the first, second, and fourth joints move by adjusting the angle of the axis, and the third joint moves by adjusting the height. Therefore, the state of the manipulator can include (θ 1 , θ 2 , h, θ 4 ), where θ 1 , θ 2 , θ 4 refers to the angle value o...

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Abstract

The invention provides a motion planning method, device, equipment and computer-readable storage medium. The method includes: including obtaining the initial state of the moving parts of the movable platform, and adding the initial state into the path list; determining the current state of the moving part according to the path list, and determining a reasonable neighbor state according to the current state; The first state is determined in the state; if the first state is a reasonable adjacent state, then add the first state to the path list; if the first state is the current state, then judge whether the first state and the preset target state meet the preset first state A matching condition; if it matches, plan the movement route according to the preset target state and the real target state; if it does not match, then determine the temporary target state in the preset signpost state; wherein, the current state is the last one added to the path list state. The solution provided by the invention can find a reasonable movement route of the moving part from the initial state to the real target state.

Description

technical field [0001] The present invention relates to motion planning technology, in particular to a motion planning method, device, equipment and computer-readable storage medium. Background technique [0002] At present, in the process of industrial production, machinery is often used instead of manual labor to carry out production operations in order to improve production efficiency and reduce production costs. If the machine needs to move during the production process, it needs to be motion planned so that the machine can reach the destination for work. [0003] Motion Planning (Motion Planning) refers to finding a path that meets the constraints for the robot between a given position A and position B. This constraint can be no collision, shortest path, minimum mechanical work, etc. At present, the commonly used motion planning method is the path planning method of the artificial potential field method. [0004] The path planned by the artificial potential field met...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221
Inventor 杨开红
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD