Fast progressive optimal mechanical arm obstacle avoidance path planning method

A technology of path planning and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in balancing rapidity and optimality, and achieve the effect of avoiding overall time efficiency and avoiding path shrinkage

Active Publication Date: 2021-07-13
SHANDONG UNIV
View PDF10 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Fast progressive optimal mechanical arm obstacle avoidance path planning method
  • Fast progressive optimal mechanical arm obstacle avoidance path planning method
  • Fast progressive optimal mechanical arm obstacle avoidance path planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0057] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

[0058] First, use the open source robot operating system ROS to build a simulation platform for a seven-degree-of-freedom manipulator; use the depth camera to scan to obtain obstacle information in the workspace, and use the AABB bounding box to simplify the environmental information to obtain the size and position information of all obstacles.

[0059] Determine the initial state s_init and the target state s_goal, and in the form of joint space (q 1 ,q 2 ,...,q n ) represents, n represents the degree of freedom of the mechanical arm, n=7 in this example. If it is expressed in the form of Cartesian space, a set of joint angles without collision can be obtained by connecting the inverse kinematics of the manipulat...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/1666
Inventor 周乐来肖飞李贻斌张辰宋锐田新诚黄双发
Owner SHANDONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap