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Path planning method and apparatus for robot fast collision avoidance

A path planning and robotics technology, applied in the field of high-dimensional robotics

Inactive Publication Date: 2014-11-19
SHENZHEN INSTITUTE OF INFORMATION TECHNOLOGY
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  • Description
  • Claims
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Problems solved by technology

[0005] The embodiment of the present invention provides a path planning method for fast collision avoidance of robots, aiming to solve the problem of how to use a simple algorithm to make robots quickly avoid collisions

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  • Path planning method and apparatus for robot fast collision avoidance
  • Path planning method and apparatus for robot fast collision avoidance
  • Path planning method and apparatus for robot fast collision avoidance

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Embodiment Construction

[0061] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0062] reference figure 1 , figure 1 It is a schematic diagram of a method for rapid collision avoidance of a robot provided by an embodiment of the present invention. Such as figure 1 As shown, the BBRrt algorithm is a combination of forward RRT search and backward RRT search. One tree grows from the initial configuration, and the other tree grows from the target configuration. Compared with single-tree RRT path planning, using two-...

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Abstract

An embodiment of the invention provides a path planning method for robot fast collision avoidance. The method comprises using a BBRrt algorithm and a collision detection algorithm based on the convex set theory, extending alternatively from initial configuration and target configuration to opposite configuration form two balance RRT trees, quickly finding, in a configuration space, a collision-free motion path connecting the initial configuration and the target configuration, effectively passing through a narrow channel and avoiding collision with obstacles in the environment, making full use of a multi-step expansion method and a balance extension method with an inspiring purpose, and thus effectively improving the convergence and repeatability of the RRT algorithm. Based on the convex set theory, a convex hull fast collision detection algorithm constituted by a linear inequation group is provided, and the efficiency and performance of a collision detection module in the path planning method for collision avoidance can be improved. The method provided by the invention can be extended to high-dimensional robot multi-tree RRT path planning.

Description

Technical field [0001] The invention relates to the field of high-dimensional robots, in particular to a path planning method and equipment for rapid collision avoidance of robots. Background technique [0002] High-dimensional robots deeply integrate technologies such as artificial intelligence, intelligent control, information processing, advanced manufacturing, and computing software. Its development will have a significant impact on society, economy, science, and national defense. It has become a strategy for high-tech research in various countries. Sexual goals. Collision avoidance path planning is the core key technology of high-dimensional robot research, and it has received widespread attention from scholars at home and abroad. [0003] Typical path planning methods include: (1) Traditional methods, such as grid method, topology reduction method, artificial potential field method, polygon fitting method, etc.; (2) Graph search-based methods, such as Dijkstra algorithm, Vor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 李华忠
Owner SHENZHEN INSTITUTE OF INFORMATION TECHNOLOGY
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