预选择最小距离指标的冗余机器人动态避障算法

doi:10.3724/SP.J.1218.2013.00017

摘要
图/表
参考文献
相关文章 (4)

全文: PDF (578 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
贾庆轩, 张倩茹, 高欣, 陈钢, 宋荆洲. 预选择最小距离指标的冗余机器人动态避障算法[J]. 机器人, 2013, 35(1): 17-22.DOI: 10.3724/SP.J.1218.2013.00017. JIA Qingxuan, ZHANG Qianru, GAO Xin, CHEN Gang, SONG Jingzhou. Dynamic Obstacle Avoidance Algorithm for Redundant Robotswith Pre-selected Minimum Distance Index. ROBOT, 2013, 35(1): 17-22. DOI: 10.3724/SP.J.1218.2013.00017.

摘要

从冗余机器人动态避障的实时性出发，提出了一种预选择最小距离指标．利用方向包围盒OBB（oriented bounding box）进行建模，通过相交测试，在计算实时距离之前剔除安全杆件，并采用局部映射距离计算方法，利用目标点坐标值直接得出实时最小距离．在此基础上，建立与最小距离相关的避障增益和逃逸速度，利用冗余机器人零空间映射矩阵进行避障路径规划．最后，通过仿真证明了利用预选择最小距离指标进行动态避障的有效性和高效性，与传统避障算法相比，整体规划时间减少了15.5%．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS

关键词 ：冗余机器人, 动态避障, 距离指标, 相交测试

Abstract：

A pre-selected minimum distance index is presented considering the real-time performance of dynamic obstacle avoidance for redundant robots. The OBB (oriented bounding box) is applied to modeling robot, and safe links are removed by intersection test before calculating real-time distance. The real-time minimum distance is calculated by local mapping based distance calculation method according to the coordinates of objective points. Based on that, avoidance factor and escaping velocity related to minimum distance are built and then mapping matrix in zero space of redundant robots is utilized to accomplish obstacle avoidance path planning. Finally, the validity and efficiency of pre-selected minimum distance index for dynamic obstacle avoidance are manifested by simulation. Compared with traditional path planning methods, the overall planning time is reduced by 15.5%.

Key words： redundant robot dynamic avoidance distance index intersection test

收稿日期: 2012-08-27 录用日期: 2012-12-10

ZTFLH:

TP242

基金资助:

国家自然科学基金资助项目（61175080）；中央高校基本科研业务费专项资金资助项目（2012RC0504）

通讯作者: 张倩茹 E-mail: zhangqianru_taotao@163.com

作者简介: 贾庆轩（1964—），男，教授，博士生导师．研究领域：虚拟现实，智能机器人，空间机器人技术．
张倩茹（1988—），女，硕士生．研究领域：智能机器人，模式识别与智能系统．
高欣（1974—），男，博士，副教授．研究领域：虚拟现实，人机交互，CAM．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00017 或 https://robot.sia.cn/CN/Y2013/V35/I1/17

[1] 陆震,何广平.冗余自由度机器人原理及应用[M].北京:机械工业出版社,2007:1-67. Lu Z, He G P. Principle and application of redundant robots[M]. Beijing: China Machine Press, 2007: 1-67.

[2] 孙立宁,赵建文,杜志江.单冗余度机器人避障能力指标的建立及在7自由度冗余手臂上的实践[J].机械工程学报,2007,43(5):223-229. Sun L N, Zhao J W, Du Z J. Concept and application on 7-DOF redundant manipulator of index to measure capability of collision-avoidance for single redundant manipulator[J]. Chinese Journal of Mechanical Engineering, 2007, 43(5): 223-229.

[3] Khatib O. Real-time obstacle avoidance for manipulators and mobile robots[J]. International Journal of Robotics Research, 1986, 5(1): 90-98.

[4] Laliberte T, Gosselin C M. Efficient algorithms for the trajectory planning of redundant manipulators with obstacle avoidance[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 1994: 2044-2049.

[5] Cho W J, Kwon D S. A sensor-based obstacle avoidance for a redundant manipulator using a velocity potential function[C]// IEEE International Workshop on Robot and Human Communication. Piscataway, NJ, USA: IEEE, 1996: 306-310.

[6] Liegeois A. Automatic supervisory control of the configuration and behavior of multibody mechanisms[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1977, 7(12): 868-871.

[7] Ikeda K, Tanaka H, Zhang T X, et al. On-line optimization of avoidance ability for redundant manipulator[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2006: 592-597.

[8] Kavraki L E, Latombe J C. Probabilistic roadmaps for robot path planning[M]//Practical Motion Planning in Robotics: Current Approaches and Future Directions. New York, USA: John Wiley & Sons, 1998: 199-212.

[9] 方承,赵京.新颖的基于梯度投影法的混合指标动态避障算法[J].机械工程学报,2010,46(19):30-37. Fang C, Zhao J. New dynamic obstacle avoidance algorithm with hybrid index based on gradient projection method[J]. Chinese Journal of Mechanical Engineering, 2010, 46(19): 30-37.

[10] Gao X, Jia Q X, Sun H X, et al. Research on path planning for 7-DOF space manipulator to avoid obstacle based on A* algorithm[J]. Sensor Letters, 2011, 9(4): 1515-1519.