Dynamic obstacle avoidance path planning method of seven-degree-of-freedom redundant mechanical arm based on fast random search tree

Abstract

The invention discloses a dynamic obstacle avoidance path planning method of a seven-degree-of-freedom redundant mechanical arm based on a fast random search tree. The dynamic obstacle avoidance pathplanning method of the seven-degree-of-freedom redundant mechanical arm based on the fast random search tree comprises the steps of offline planning and online planning, the offline planning uses an analytic solution method of inverse kinematics of a redundant mechanical arm to determine an optimal target state to be regarded as a target node to construct a search tree, the online planning is to extend and rewire the search tree according to the current environment, a path from the target node to a root node is obtained in real time, when the mechanical arm moves, the root node of the tree changes, and if the target node is blocked by an obstacle, the target node is switched, and a new path is searched to avoid the dynamic obstacle. According to the dynamic obstacle avoidance path planningmethod of the seven-degree-of-freedom redundant mechanical arm based on the fast random search tree, through the offline planning and the online planning, the problem that RRT* cannot be used for theredundant mechanical arm real-time obstacle avoidance due to the high computational complexity of the RRT* is solved, by updating the root node and the target node of the search tree in real time, the problem that the target node in the dynamic environment is unreachable is solved, and a collision-free path is planned for the mechanical arm in real time.

Description

technical field [0001] The present invention relates to the field of path planning of multi-degree-of-freedom manipulators, in particular to a dynamic obstacle-avoiding path planning method for seven-degree-of-freedom redundant manipulators based on fast random search trees. Background technique [0002] Robot path planning is a basic problem in the field of robotics research, which aims to find a path for the robot from the initial state to the goal state, and safely avoid all obstacles in the motion space. Scholars at home and abroad have proposed many effective path planning methods for mobile robots, such as A* algorithm, Dijkstra algorithm, etc. At this time, the mobile robot is often simplified into a mass point with kinematic constraints. However, the manipulator is a multi-input and multi-output, highly nonlinear, and strongly coupled complex system, which cannot be directly regarded as a particle in Cartesian space, so most path planning methods for mobile robots ca...

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Problems solved by technology

However, the manipulator is a multi-input and multi-output, highly nonlinear, and strongly coupled complex system, which cannot be directly regarded as a particle in Cartesian space, so most path planning methods for mobile robots cannot be directly extended to manipulators.

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