Obstacle avoidance path planning method of obstacle avoidance task unrelated artificial potential field guide

Abstract

The embodiment of the invention provides an obstacle avoidance path planning method of obstacle avoidance task unrelated artificial potential field guide. The obstacle avoidance path planning method comprises the steps of using the energy consumption, end speed and frictional wear of a manipulator as optimization objectives according to the use cost of the space manipulator, and providing a minimum singular value index to which a speed limit is introduced on the basis; providing a gradient potential field offline construction method considering the operating cost of the manipulator according to the minimum singular value of a jacoby matrix to which the speed limit is introduced and the operability, condition number and joint limits of the manipulator; and expanding by using constructed random trees in a gradient potential field guided RRT algorithm, and planning to obtain an obstacle-free operating path of the space manipulator. According to the obstacle avoidance path planning method provided by the embodiment of the invention, when an obstacle avoidance path planning task of the redundant space manipulator is executed, the efficiency of an obstacle avoidance planning algorithm can be improved, and the use cost of the manipulator can be reduced.

Description

【Technical field】 [0001] The invention relates to automatic control technology, in particular to an obstacle avoidance path planning method guided by an obstacle avoidance task irrelevant to an artificial potential field. 【Background technique】 [0002] The calculation amount of the path planning algorithm depends on the complexity of the task and the environment and the requirements for the quality of the planned path. A good path planning algorithm should take into account both the planning speed and the quality of the path; on the other hand, starting from the characteristics of the space mission operating environment, While completing the obstacle avoidance planning task, how to reduce the use cost of the robotic arm is also one of the difficult problems that the obstacle avoidance planning method needs to solve. [0003] According to the robot's grasp of the environmental information, the obstacle avoidance path planning can be divided into global path planning based on...

AI Technical Summary

Problems solved by technology

Due to the limited environmental information obtained by this type of method, it is easy to fall into the local minimum

The global path planning algorithm can be divided into two categories. One is the path planning algorithm based on the environment map. This type of algorithm needs to establish the environment map first, and then search for the barrier-free path. However, it is very difficult to establish the environment map in high-dimensional space, so it is not necessary to It is suitable for obstacle-avoidance path planning of redundant manipulators; another method is a path planning algorithm based on random sampling, which can avoid establishing an explicit obstacle-free joint space of the manipulator by sampling in the joint space of the manipulator. It is suitable for path planning in high-dimensional space, but most of these algorithms do not optimize the path, or the optimization efficiency is low

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