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A Random Sampling Based Obstacle Avoidance Planning Method for Mobile Manipulator

A mobile robot arm and random sampling technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of simplifying the solution complexity and reducing the computational complexity

Active Publication Date: 2021-05-18
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose an obstacle avoidance path planning based on a random sampling algorithm for mobile manipulators to solve the problem of rapid obstacle avoidance planning for mobile manipulators in a given field

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  • A Random Sampling Based Obstacle Avoidance Planning Method for Mobile Manipulator
  • A Random Sampling Based Obstacle Avoidance Planning Method for Mobile Manipulator
  • A Random Sampling Based Obstacle Avoidance Planning Method for Mobile Manipulator

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0054] Now in conjunction with embodiment, Figure 1 ~ Figure 4 The present invention is further described:

[0055] Implementation technical scheme of the present invention is:

[0056] 1) Establish the kinematics model of the mobile manipulator:

[0057] The parameters of the moving platform of the mobile manipulator are as follows:

[0058] Chassis parameter table

[0059]

[0060] ...

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Abstract

The invention discloses an obstacle avoidance planning method for a mobile mechanical arm based on random sampling. In the present invention, the mobile platform is firstly modeled as a special mechanical arm composed of a mobile joint in the x and y directions connected to a rotary joint, and combined with the original mechanical arm model to establish an n-degree-of-freedom mobile mechanical arm. Forward kinematics model. Then the constraints in the motion planning process are analyzed, and then the algorithm flow of the vehicle-arm integrated path planning algorithm for the mobile manipulator is designed. Finally, a two-way redundant path deletion method for path smoothing is designed to smooth the path obtained in the previous step. In the present invention, the entire mobile mechanical arm is modeled as a special mechanical arm with movable joints, which greatly simplifies the complexity of kinematics solution. At the same time, a two-way redundant path deletion algorithm is designed, which greatly reduces and smoothes the path planned by the RRT algorithm with low computational complexity.

Description

technical field [0001] The present invention belongs to the field of path planning, and specifically relates to an obstacle avoidance path planning method based on a random sampling algorithm for mobile manipulators, which can quickly plan obstacle avoidance methods for mobile manipulators on sites with specified sizes and obstacles feasible path. Background technique [0002] The mobile robotic arm has both the mobility of a mobile platform and the operability of a manipulator. This type of platform is widely used in different industries and production fields. Compared with traditional robots that mainly focus on specific research directions, such as perception, planning, control and artificial intelligence, mobile manipulator systems are more inclined to comprehensive systems that can complete a wider range of tasks in the actual environment. [0003] Since the interaction between the mobile platform and the robotic arm is not considered, and the combination of the mobile...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/163B25J9/1664
Inventor 陈正邵珺唐建中聂勇朱世强
Owner ZHEJIANG UNIV
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