Manipulator artificial potential field space path planning method combined with spherical tree model

A technology of artificial potential field and space path, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve the problem that the repulsion of the target point is not zero.

Active Publication Date: 2019-03-08
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The present invention aims at the redundant space problem of the spherical envelope model of the obstacle, and describes the obstacle by constructing a spherical tree model; uses the improved artificial potential field method model to solve the problem that the repulsion of the target point is not zero; aims...

Method used

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  • Manipulator artificial potential field space path planning method combined with spherical tree model
  • Manipulator artificial potential field space path planning method combined with spherical tree model
  • Manipulator artificial potential field space path planning method combined with spherical tree model

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Embodiment

[0125] The initial position of the robot is (100,500,350); the target position is (400,150,350), the obstacle 1 coordinates (200,450,350), the influence diameter is 65; the obstacle 2 coordinates (350,450,350), the influence diameter is 65; the obstacle 3 coordinates (225,250,350), the influence diameter is 75 ; Obstacle 4 coordinates (350, 250, 350), affecting diameter 75.

[0126] Simulation effect:

[0127] Such as Figures 8a-8c As shown, it can be seen from the obstacle avoidance simulation effect diagram that the method of the present invention can realize effective obstacle avoidance and selection of a better path for the robot in complex obstacles and unknown environments. When the point is reached, it can realize the smooth processing of the trajectory and realize the optimization of the trajectory.

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Abstract

The invention discloses a manipulator artificial potential field space path planning method combined with a spherical tree model. The manipulator artificial potential field space path planning methodcombined with spherical tree model comprises the following steps of (1) constructing a sphere octree bounding box of a barrier; (2) trimming a hollow sphere, and after clipping the hollow sphere, obtaining a model with a rough shape of the barrier; (3) trimming a redundant sphere, and after trimming the redundant sphere, obtaining a model capable of accurately reflecting the shape of the model; (4) building an artificial potential field model, and calculating the attractive force of a target point, and the repulsive force and the resultant force of the barrier suffered by a robot; (5) judgingwhether the robot is trapped in a local minimum value or a vibration area or not, and if yes, building a virtual target point, and calculating the attractive force of the virtual target point, and therepulsive force and the resultant force of the barrier suffered by a current point; (6) carrying out iterative computation, computing to obtain an optimal solution, and planning an appropriate obstacle avoidance path; and (7) smoothing a track.

Description

technical field [0001] The present invention relates to a robot automatic obstacle avoidance method, in particular to a manipulator artificial potential field space path planning method combined with a ball tree model, and relates to industrial robots and service robots widely used in the fields of industrial production, logistics transportation, etc. . Background technique [0002] Path planning is a very critical technology in robotics. Industrial robots and service robots can quickly and accurately locate the target point during operation. Path planning is required to plan the most suitable operating path, avoid obstacles, and increase robot The safety of operation improves the operating efficiency of the robot. The environment is unknown and changing; this requires dynamic path planning technology, and static path planning can no longer meet the requirements. [0003] Dynamic path planning for industrial robots and service robots requires efficient collision detection ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 林旭军王进泮求亮陆国栋
Owner ZHEJIANG UNIV
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