冗余度机器人梯度投影避障算法的改进

张立栋; 李亮玉; 王天琪

doi:10.13433/j.cnki.1003-8728.2015.1007

冗余度机器人梯度投影避障算法的改进

doi: 10.13433/j.cnki.1003-8728.2015.1007

1.
天津工业大学天津市现代机电装备技术重点实验室, 天津 300387

基金项目:

国家自然科学基金项目(51075299)资助

详细信息

作者简介:
张立栋(1989-),硕士研究生,研究方向为机器人路径规划,机器人仿真技术,zhanglidong009@126.com

通讯作者:
李亮玉,教授,博士,liliangyu1965@163.com

计量
- 文章访问数: 125
- HTML全文浏览量: 27
- PDF下载量: 11
- 被引次数: 0
出版历程
- 收稿日期: 2014-01-05
- 刊出日期: 2015-10-05

Improvement of Obstacle Avoidance Algorithm for a Redundant Robot Based on Gradient Projection Method

1.
Advanced Mechatronics Equipment Technology Tianjin Area Laboratory, Tianjin Polytechnic University, Tianjin 300387, China

摘要

摘要: 针对传统基于梯度投影法的避障算法只进行关节空间局部调整,无法实现冗余度机器人末端躲避障碍物的不足,提出一种改进的避障算法。借助人工势场思想,实时地规划出冗余度机器人末端的避障路径。同时以最短距离为指标,进行关节空间自运动调整。末端避障和关节自运动调整相结合,实现全局范围避障。最短距离计算采用解析方法,避免最短距离垂足落在杆件延长线上的问题。在MATLAB软件中进行了冗余度机器人避障仿真,规划用时1.73 s,证明改进后避障算法的有效性和高效性,并且能实现目标追踪过程中的动态避障。
- 冗余度机器人 /
- 避障 /
- 梯度投影法
Abstract: Aiming at the problem of traditional local obstacle avoidance algorithm based on gradient projection method that only adjusts joint space, we present an improved obstacle avoidance algorithm. The obstacle avoidance path of the robot end is real-time planned out with the artificial potential field algorithm. The shortest distance index is used to adjust the robot in joint space to avoid collision. The improved obstacle avoidance algorithm is realized with the combination of robot end obstacle avoidance and joint space adjustment. The shortest distance is calculated with analytical method to avoid the shortest distance falling on the member bar production. The simulation of obstacle avoidance is carried out with MATLAB software. The planning takes 1.73s and it verifies the effectiveness and efficiency of the improved obstacle avoidance algorithm, and the algorithm is also applicable to target pursuit and obstacle avoidance in dynamic environment.
- algorithms /
- calculations /
- collision avoidance

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参考文献(16)

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