Impact constrained robot obstacle avoidance and time optimal trajectory planning method
A trajectory planning and time-optimized technology, applied in the direction of instruments, two-dimensional position/channel control, non-electric variable control, etc., can solve problems such as difficult trajectory, many factors, and complexity, so as to prolong the service life and improve work efficiency , the effects of good reference and application value
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[0056] The present invention will be further described in detail below in conjunction with the accompanying drawings. A robot obstacle avoidance and time optimal trajectory planning method of impact constraints in the present invention includes a path planning module, a spline interpolation module, an obstacle avoidance processing module and a time optimal trajectory planning module. parts.
[0057] The path planning module introduces the idea of target bias and target preference expansion to solve the problem of large amount of computation when the RRT* algorithm expands nodes, and the newly generated node q new It has strong randomness. Although it can be asymptotically optimized, the blind expansion strategy leads to waste of computing resources and greatly affects the convergence speed. The goal bias expansion idea is to add the target node q goal Component in direction, new node q new to q goal and q rand The vector direction of , the target preference idea is to di...
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Abstract
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