Fast progressive optimal mechanical arm obstacle avoidance path planning method

Abstract

A fast progressive optimal mechanical arm obstacle avoidance path planning method comprises the steps that work space obstacle environment information is obtained, a mechanical arm collision model and a kinematics model are established, and the initial state and the target state of a joint space form are determined; an initial path is quickly obtained through a double-tree opposite growth strategy; then a heuristic hyper-ellipsoid sampling subspace is established, and sampling, dual-tree growth and path optimization are performed in the subspace; a path contraction algorithm further optimizes an existing path and accelerates compression of a hyper-ellipsoid space; and a strategy that multiple times of sampling growth optimization are matched with one time of updating of the shortest path enables a search tree to fully explore the space and optimize the path, and excessive useless path shrinkage is avoided. According to the method, multiple heuristic ideas are fused, the rapidity and optimality of an RRT path planning algorithm are balanced, and the collision-free path can be obtained in a rapid, progressive and optimal manner.

Description

technical field [0001] The invention relates to the field of motion planning of a manipulator, in particular to a high-dimensional manipulator quickly searching for a shortest feasible non-collision path in a static obstacle environment. Background technique [0002] The path planning of the manipulator is a basic problem in the field of robotics research, that is, given the initial state and the target state, find a feasible non-collision path θ(s) (0≤s≤1), where θ(0) represents the initial state state, θ(1) represents the target state, and collision-free means that for any state on the path, there is no collision between the manipulator itself and between the manipulator and the surrounding environment. [0003] The path planning algorithms of traditional mobile robots, such as artificial potential field method and A*, need to display and express obstacles in the configuration space. However, the dimensionality in the path planning of the manipulator is high, and the calcu...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that it is difficult to balance the rapidity and optimality of the path planning of the manipulator, the present invention provides a fast and progressively optimal path planning method for the obstacle avoidance of the manipulator. By making a variant of the RRT algorithm, a manipulator can be quickly and progressively optimized. collision-free motion path

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