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.
JIA Qingxuan, ZHANG Qianru, GAO Xin, CHEN Gang, SONG Jingzhou. Dynamic Obstacle Avoidance Algorithm for Redundant Robotswith Pre-selected Minimum Distance Index[J]. ROBOT, 2013, 35(1): 17-22.
 Citation: JIA Qingxuan, ZHANG Qianru, GAO Xin, CHEN Gang, SONG Jingzhou. Dynamic Obstacle Avoidance Algorithm for Redundant Robotswith Pre-selected Minimum Distance Index[J]. ROBOT, 2013, 35(1): 17-22.

## Dynamic Obstacle Avoidance Algorithm for Redundant Robotswith Pre-selected Minimum Distance Index

• 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%．

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%.

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