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
CN1883887AInactive Publication Date: 2006-12-27INST OF MECHANICS - CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
INST OF MECHANICS - CHINESE ACAD OF SCI
Publication Date
2006-12-27
Estimated Expiration
Not applicable ยท inactive patent

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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.
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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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