Manipulator autonomous obstacle avoidance planning method and system in dynamic environment

A dynamic environment and planning system technology, applied in the field of manipulators, can solve the problems of large planning space, difficulty in modeling and planning, etc.

Inactive Publication Date: 2022-04-29
TAIZHOU UNIV
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  • Abstract
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Problems solved by technology

[0004] (2) Since the high-degree-of-freedom manipulator path planning problem is a high-dimensional problem, the planning space is large, which makes the planning difficulty extremely difficult
[0005] (3) A large number of online collision detection has become a bottleneck that limits the efficiency of algorithm planning. How to model the manipulator and obstacles is the key to realize the planning of the manipulator in the dynamic obstacle environment

Method used

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  • Manipulator autonomous obstacle avoidance planning method and system in dynamic environment
  • Manipulator autonomous obstacle avoidance planning method and system in dynamic environment
  • Manipulator autonomous obstacle avoidance planning method and system in dynamic environment

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Embodiment Construction

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0027] A method for autonomous obstacle avoidance planning of a manipulator in a dynamic environment according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] A method for autonomous obstacle avoidance planning of a manipulator in a dynamic environment, comprising:

[0029] Simplify the modeling of the manipulator and obstacles, and establish a collision detection model for the manipulator and obstacles;

[0030] Establish a model-free...

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Abstract

The invention discloses a manipulator autonomous obstacle avoidance planning method and system in a dynamic environment, and the method comprises the steps: carrying out the simplified modeling of a manipulator and an obstacle, and building a collision detection model of the manipulator and the obstacle; establishing a model-free deep learning algorithm model and carrying out collision training; according to a model-free deep learning algorithm model, an autonomous obstacle avoidance path of the manipulator is obtained, and an obstacle avoidance object is described as a reinforcement learning object by setting a collision negative reward, that is, an obstacle avoidance grabbing problem of the manipulator in a dynamic environment is described as a problem of searching a strategy for maximizing a total reward. In addition, a collision detection algorithm is designed for the two irregular entities of the manipulator and the complex obstacle, and the problem of collision detection between the two irregular entities is solved.

Description

technical field [0001] The invention belongs to the technical field of manipulators, and in particular relates to a planning method and system for autonomous obstacle avoidance planning of a manipulator in a dynamic environment. Background technique [0002] Manipulator is an automatic operation device that imitates the movements of human hands. As a branch of industrial robots, it has the advantages of strong versatility, flexible movement, and easy control, so it is widely used in handling, welding, spraying, cutting and other fields. Usually, the working scene of the manipulator is not a free space, but a constrained space with many obstacles. Therefore, path planning in a space with obstacle constraints has always been a research hotspot. The quality of obstacle avoidance planning technology directly affects The control effect of the manipulator, with the expansion of production requirements and the complexity of the application scene, there are often some moving obstacl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M13/00G06F30/20B25J9/16
CPCG01M13/00G06F30/20B25J9/1676
Inventor 陈鹏展袁帅铭裴结安
Owner TAIZHOU UNIV
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