Robot Arm Path Replanning for Dynamic Obstacle Avoidance
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Solution Overview
Problem
Current collision avoidance path planning for robot arms in dynamic environments fails to effectively handle both static and dynamic obstacles simultaneously, leading to inefficient path planning and reduced working efficiency due to excessive dodging time and inability to maintain optimal path lengths.
Innovation Solution
A method and system utilizing a hybrid rapidly-exploration random tree (Hybrid RRT) that integrates artificial potential field (APF) and RRT, dynamically adjusting weights based on obstacle volume distribution, combined with real-time obstacle tracking using static and dynamic obstacle models, to re-plan partial paths and ensure collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If collision avoidance path planning is designed for static or dynamic obstacles separately, then the robot arm can avoid one type of obstacle, but it cannot effectively handle both static and dynamic obstacles simultaneously
Solution Approach 1:
The patent applies universality by designing a unified path planning system that can handle both static and dynamic obstacles simultaneously. The system integrates static obstacle avoidance algorithms with dynamic obstacle tracking and avoidance mechanisms into a single multi-functional framework, allowing the robot arm to adapt to mixed obstacle environments without requiring separate specialized systems for each obstacle type.
2Reliability
If the robot arm takes a longer path to avoid obstacles, then collision avoidance is achieved, but the robot arm spends excessive time dodging obstacles and working efficiency decreases
Solution Approach 1:
The patent applies dynamics by implementing real-time dynamic obstacle tracking and adaptive path re-planning. The system continuously monitors obstacle positions and dynamically adjusts the robot arm's path in real-time, allowing for optimal collision avoidance that minimizes detour length. The dynamic re-planning capability enables the system to respond to changing obstacle positions while maintaining efficient path lengths, rather than following fixed conservative avoidance routes.
3Adaptability or versatility
If collision avoidance planning is performed in all directions, then the robot arm can avoid obstacles from any direction, but the planning time increases and the robot arm cannot maintain optimal working efficiency
Solution Approach 1:
The patent applies segmentation by dividing the collision avoidance planning into directional segments or zones. Instead of performing exhaustive planning in all directions simultaneously, the system segments the workspace into relevant sectors and performs targeted planning only in directions where obstacles are detected. This segmented approach reduces computational burden and planning time while maintaining all-directional avoidance capability through selective focus on threatened directions.
Data Source
AI summary
A method for path planning of a robot arm in a dynamic environment includes steps as follows. During an operation of the robot arm in a three-dimensional environment, a state of an obstacle is obtained in real time, and when a collision danger occurs, the robot arm is allowed to dodge the obstacle. In the collision danger, a partial path of the robot arm is re-planned based on a hybrid RRT, so that the robot arm avoids dynamic and static obstacles in an environment and then returns to an original path for continuing operation.