Dynamic obstacle avoidance path planning method for multi-degree-of-freedom mechanical arm

The invention discloses a dynamic obstacle avoidance path planning method for a multi-degree-of-freedom mechanical arm. The dynamic obstacle avoidance path planning method comprises the steps that an artificial potential field method is used for preliminarily planning an obstacle avoidance path of t...

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Hauptverfasser: CHEN GUOXIONG, JI JINGTAO, ZHANG HUANSHEN, ZHU XIAOFENG, LU XIANFENG, REN YUBIN, CHEN XIAOPENG, CHEN ZHIHAO, PAN JUNLONG, GUO WEIFENG, WU CHENJING, SHI LICHENG, HUANG ZHI, SUN RUI, CAI SUXIONG, GONG YANPING
Format: Patent
Sprache:chi ; eng
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Zusammenfassung:The invention discloses a dynamic obstacle avoidance path planning method for a multi-degree-of-freedom mechanical arm. The dynamic obstacle avoidance path planning method comprises the steps that an artificial potential field method is used for preliminarily planning an obstacle avoidance path of the mechanical arm; when a dynamic obstacle is encountered, real-time data acquisition is carried out on the obstacle through the data acquisition module; image recognition and collision detection are carried out on the collected data, path updating is carried out, and re-planning is carried out; when a local optimal condition occurs during path planning, improving the path by using a local optimal jump-out strategy; and the machine wall arrives at a designated position according to the path planned by the optimized path planning method. According to the method, the artificial potential field method is optimized by modifying the potential field function and increasing the optimal jumping strategy, and the overall st