A Space Path Planning Method for Manipulator Artificial Potential Field Combined with Ball Tree Model

Abstract

The invention discloses a path planning method for manipulator artificial potential field space combined with a ball tree model, which adopts the following steps: step 1, constructing a sphere octree bounding box of obstacles; step 2, pruning an empty sphere, and obtaining The model has the approximate shape of the obstacle; step 3, trim the redundant sphere, the model obtained after trimming the redundant sphere can more accurately reflect the shape of the model; step 4, build an artificial potential field model, calculate the gravity of the robot by the target point, and the obstacle Repulsion and resultant force of objects: Step 5. Determine whether it is trapped in a local minimum or a shock zone. If so, establish a virtual target point and calculate the gravitational force of the virtual target point received by the current point, the repulsion force and resultant force of obstacles; Step 6. Iteration Calculation, calculation to obtain the optimal solution, planning a suitable obstacle avoidance path; Step 7, track smoothing.

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 ...

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 at the artificial potential field method in three-dimensional space The problem of local minima and repeated oscillations in the path exists in the system. By temporarily constructing a virtual target point to jump out of the minimum point and local oscillation area, the manipulator can reach the target point smoothly.

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