杜广龙, 张平. 基于人工势场的机器人遥操作安全预警域动态生成方法[J]. 机器人, 2012, 34(1): 44-49..
DU Guanglong, ZHANG Ping. A Method For Generating Dynamic Security Warning Region in Robotic Teleoperation Based on Artificial Potential Field. ROBOT, 2012, 34(1): 44-49..
Abstract:In order to avoid unnecessary collisions between robotic manipulators and environmental obstacles and to solve the problem that the "move-and-wait" phenomenon affects the security and efficiency of the robot system during robotic teleoperation.an algorithm for building dynamic security warning region based on artificial potential field is presented.The security warning region built by the algorithm based on equipotential surface theory can not only detect the distance between the robot and the environmental obstacles,but also provide a relatively secure region based on the velocity and acceleration of the robot to avoid collision in case the robot moves too fast at next time.Finally,a robotic teleoperation platform is built to run the quickfy-grab-target experiment with the help of the warning algorithm.Experiment proves that the algorithm is able to enhance the security and the efficiency of the robotic teleoperation.
[1] 朴明波,付宜利,王树国.一种基于投影面的手术器械碰撞预警算法[J].机器人,2009,31(2):124-130.Piao M B,Fu Y L,Wang S G.An early warning algorithm for operation instruments collision based on projection plane[J].Robot,2009,31(2):124-130.
[2] Vazquez I,Rosell J.Contact tracking in configuration space for haptic rendering purposes[C]//6th IEEE International Symposium on Assembly and Task Planning:Form Nano to Macro Assembly and Manufacturing.Piscataway,NJ,USA:IEEE,2005:218-223.
[3] 丁富强,费燕琼,韩卫军,等.双臂SCARATES机器人实时无碰撞运动规划[J].上海交通大学学报,2003,37(11):1690-1693.Ding F Q,Fei Y Q,Han W J,et al.Real-time collision-free motion plan of the dual-arm SCARATES robot[J].Journal of Shanghai Jiaotong University,2003,37(11):1690-1693.
[4] 刘成良,张凯,Lee J.双机器人协调作业下碰撞算法及仿真研究[J].机器人,2003,25(2):167-171.Liu C L,Zhang K,Lee J.Research on collision algorithm for dual-robot under coordinative operation and simulation[J].Robot,2003,25(2):167-171.
[5] 张祺,杨宜民.基于改进人工势场法的足球机器人避碰控制[J].机器人,2002,24(1):12-15.Zhang Q,Yang Y M.Soccer robot collision avoidance control based on evolutionary artificial potential field[J].Robot,2002,24(1):12-15.
[6] Mabrouk M H,McInnes C R.Solving the potential field local minimum problem using internal agent states[J].Robotics and Autonomous Systems,2008,56(12):1050-1060.
[7] Zou X Y,Zhu J.Virtual local target method for avoiding local minimum in potential field based robot navigation[J].Journal of Zheiiang University:Science A,2003,4(3):264-269.
[8] 朱毅,张涛,宋靖雁.非完整移动机器人的人工势场法路径规划[J].控制理论与应用,2010,27(2):152-158.Zhu Y,Zhang T,Song J Y.Path planning for nonholonomic mobile robots using artificial potential field method[J].Control Theory & Applications,2010,27(2):152-158.
[9] 魏迎梅.虚拟环境中碰撞检测问题的研究[D].长沙:国防科学技术大学,2000.Wei Y M.Research on collision detection in virtual environment[D].Changsha:National University of Defense Technology,2000.