Manipulator autonomous obstacle avoidance planning method and system in dynamic environment

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...

AI Technical Summary

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

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