Robot obstacle-avoiding route planning method based on virtual scene

A path planning and virtual scene technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of not meeting the real-time requirements of online planning

Inactive Publication Date: 2006-12-27
INST OF MECHANICS - CHINESE ACAD OF SCI
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Existing methods can only be used for offline planning, which cannot meet the real-time requirements of online planning

Method used

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  • Robot obstacle-avoiding route planning method based on virtual scene
  • Robot obstacle-avoiding route planning method based on virtual scene
  • Robot obstacle-avoiding route planning method based on virtual scene

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Embodiment Construction

[0022] In view of the difficulty in establishing the C space of the current C space method, and the large amount of calculation, the artificial potential field method is only a local planning, and the space robot obstacle avoidance path planning is rarely studied. In order to meet the requirements of real-time planning and high efficiency, We propose to transform the three-dimensional problem into a two-dimensional problem to solve the obstacle avoidance path planning problem of the six-degree-of-freedom space manipulator.

[0023] This method uses the envelope of the regular body to model the obstacle, and fully combines the ideas of the joint space method and the C space method. On the premise of maintaining high precision, the obstacle domain is determined by projection on the H and V planes. Transform the 3D obstacle avoidance path planning problem into a 2D problem in two planes. The method is small in calculation, simple, intuitive and easy to implement.

[0024] (1) Us...

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Abstract

The invention involves a obstacle-overcoming scheme for robots based on virtue robot. In this scheme, the model of an obstacle is established through enveloping of regular objects. The scheme also incorporates the methodologies of the joint space method and C space method. With the prerequisite of maintaining a relatively high precision, the obstacle field is determined through projections on H and V planes. Thus the problem of 3D obstacle-overcoming scheme is converted into a 2D problem in two planes. The methodology represented in this scheme can improve the level of safety, real-time and efficiency of the scheme.

Description

technical field [0001] The invention relates to robot obstacle avoidance path planning technology. The method mainly relates to the robot obstacle avoidance path planning method based on the virtual robot, and can also be used for the obstacle avoidance path planning of the physical robot. Background technique [0002] Obstacle avoidance path planning refers to the obstacle conditions of the given environment and the starting and target poses, requiring selection of a path from the starting point to the target point so that the moving object (robot) can pass through all obstacles safely and without collision. . This autonomous avoidance of obstacles and completion of tasks is an important part of robot research. [0003] At present, the obstacle methods of ground manipulators include: free space method based on C space, artificial potential field method and joint space method based on Cartesian coordinate space. [0004] Lazona-Perze proposed a free space method based on ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 张珩陈靖波赵猛
Owner INST OF MECHANICS - CHINESE ACAD OF SCI
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