CN100410030C - Robot obstacle-avoiding route planning method based on virtual scene - Google Patents

Robot obstacle-avoiding route planning method based on virtual scene Download PDF

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CN100410030C
CN100410030C CNB2006100910021A CN200610091002A CN100410030C CN 100410030 C CN100410030 C CN 100410030C CN B2006100910021 A CNB2006100910021 A CN B2006100910021A CN 200610091002 A CN200610091002 A CN 200610091002A CN 100410030 C CN100410030 C CN 100410030C
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obstacle
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张珩
陈靖波
赵猛
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Institute of Mechanics of CAS
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Abstract

The present invention is mainly used for robot obstacle-avoidance path planning based on virtual robots. The present invention utilizes wrapping of a regular body to build a mode for an obstacle and fully combines thoughts of a joint space method and a C space method. Under the premise of keeping high precision, an obstacle region is determined by the projection on planes H and V, and the problem of three-dimensional obstacle-avoidance path planning is converted into a two-dimensional problem in the two planes. The planning method can increases the safety performance of planning, real-time performance and high efficiency performance.

Description

A kind of robot obstacle-avoiding route planning method based on virtual scene
Technical field
The present invention relates to the robot obstacle-avoiding route planning technology.This method relates generally to the robot obstacle-avoiding route planning method based on virtual robot, also can be used for the obstacle-avoiding route planning of entity robot.
Background technology
Obstacle-avoiding route planning is meant obstacle condition and the initial pose and the object pose of given environment, requires to select the path from the starting point to the impact point, makes moving object (robot) energy safety, without collision by all obstacles.This avoiding barrier independently and the task of fulfiling assignment are important contents of robot research.
At present, the barrier method of ground machine arm has: based on the free space method in C space, based on the Artificial Potential Field method and the joint space method in rectangular co-ordinate space.
Lazona-Perze has proposed the free space method based on the C space.Joint shaft with mechanical arm is that coordinate system is set up C space (Configuration pace), barrier is mapped to the C space, form the C spatial obstacle, so, the supplementary set of C spatial obstacle in the C space, then corresponding free space, the some representative in the free space not with the dry and astringent robot configuration of barrier, and representative of the point in the C spatial obstacle and the dry and astringent robot configuration of barrier.Use the heuristic search algorithm, keep away barrier planning and just be converted into the routing problem of in free space, seeking connection initial point and impact point.Shortcoming is that the foundation in C space is relatively more difficult, and amount of calculation is big.
Khatib has introduced the notion of Artificial Potential Field (Artificial PotentialField) on the basis of penalty function, to repulsion field of obstacle definition, this potential field gradient of any in robot is defined as repulsive force; One of object definition is attracted potential field, and the motion of robot is that the interaction by two kinds of power causes, and is subjected to kinematic constraint.The joint space method is meant barrier is mapped to joint space that joint space has formed a feasible zone so.Advantage is more directly perceived.Shortcoming is that the track of the path point paw cooked up according to joint space is irregular.
Compare with the traditional planning method, robot for space collision prevention path planning algorithm also should be considered from following several respects: (1) security: the robot entire arms all might bump with the obstacle object, when therefore the arm of robot being planned, should keep certain distance with the obstacle object, and path to having planned, carry out the collision check of robot and obstacle object and check, to avoid collision.(2) planning efficiency: for improving the efficient of path planning, should limit the space of planning algorithm search, thereby shorten robot trajectory planning's time.
At present few to the obstacle-avoiding route planning of robot for space.Existent method also all can only be carried out off-line planning, does not reach the real-time requirement of online planning.
Summary of the invention
In order to solve above-mentioned traditional problem, so one object of the present invention is exactly to have proposed a kind of robot obstacle-avoiding route planning method based on virtual robot.
In one aspect of the invention, the robot obstacle-avoiding route planning method based on virtual scene comprises step: (1) determines the original state θ of mechanical arm i(0) and dbjective state θ i(2) determine time step h and Δ θ i(3) the obstacle territory HSS of dyscalculia thing in horizontal plane MinAnd HSS MaxAnd the obstacle territory in the vertical plane; (4) by θ 1(0) sequential adjustment θ in the vertical plane of Que Dinging 2, θ 3, θ 5(5) press near principle θ 4Be adjusted to 180,0 ,-180 degree; (6) judge if θ 1∈ (HSS Min, HSS Max) and QQ 1∈ (HSS Min, HSS Max) or θ 1＜HSS Min﹠amp; ﹠amp; QQ 1＞HSS MaxOr QQ 1＜HSS Min﹠amp; ﹠amp; θ 1＞HSS MaxThe time, enter next step, otherwise entered for the tenth step; (7) calculate θ 1Standard target position QQ 1(8) with θ 1Be adjusted to QQ by current location 1(9) again by QQ 1Regulate θ in the vertical plane of determining 2, θ 3, θ 5, make and work as θ 1∈ (HSS Min, HSS Max) back L1, L2, L3 will can not bump against with barrier; (10) with θ 1Be transferred to QQ by current location 1(11) calculate by QQ 1The obstacle territory of the vertical plane bottom base of determining; (12) press θ 5, θ 3, θ 2The sequential adjustment joint angle to target joint angle QQ 5, QQ 3, QQ 2If success then enters next step; (13) press θ 2, θ 3, θ 5The sequential adjustment joint angle to target joint angle QQ 2, QQ 3, QQ 5If success then enters next step; (14) regulate θ 4To target joint angle QQ 4(15) regulate θ 6To target joint angle QQ 6(16) planning finishes.
According to this aspect, in step (13), if unsuccessful, then planning failure entered for the 14 step.
According to this aspect, in step (14), if unsuccessful, then planning failure entered for the 16 step.
Description of drawings
In conjunction with accompanying drawing subsequently, what may be obvious that from following detailed description draws above-mentioned and other purpose of the present invention, feature and advantage.In the accompanying drawings:
Fig. 1 has provided the approximate modeling of envelope of barrier being used rule body;
Fig. 2 has provided and has projected to two floor map;
Fig. 3 has provided the plane and has kept away the barrier schematic diagram;
Fig. 4 has provided the plane and has kept away the barrier schematic diagram;
Fig. 5 has provided the barrier in the plane;
Fig. 6 has provided the Liang Chashu of mechanical arm obstacle-avoiding route planning;
Fig. 7 has provided z in the V plane jo jv jBarrier W under the coordinate system iThe obstacle territory of determining;
Fig. 8 has provided by pedestal, the schematic diagram of the robot system that six joint mechanical arms and square barrier are formed;
Fig. 9 has provided mechanical arm and has kept away the barrier flow chart.
The specific embodiment
Foundation difficulty at the C space of present C space law, and amount of calculation is big, the Artificial Potential Field method is sector planning, and the robot for space obstacle-avoiding route planning is studied characteristics such as few, for the real-time that reaches planning and the requirement of high efficiency, we have proposed that three-dimensional problem is converted into two-dimensional problems and have solved six degree of freedom space manipulator obstacle-avoiding route planning problem.
This method utilizes the envelope of rule body to the barrier modeling, and fully combine the thought of joint space method and C space law, under the prerequisite that keeps degree of precision, determine the obstacle territory by the projection on H and V plane, three-dimensional obstacle-avoiding route planning problem is changed into two two-dimensional problems in the plane.Little, simple, directly perceived, the easy realization of this method amount of calculation.
(1) utilize the envelope of rule body to the barrier modeling
Three-dimensional barrier generally has irregular geometry, so its accurate obstacle territory in methods such as C space law is difficult to obtain.Wang Wei [7]Propose by utilizing boundary point and characteristic point to determine the obstacle territory of barrier under the C space Deng the people, but the boundary point for the barrier of random geometry is too much, and characteristic point is difficult for determining, promptly enable to determine, its amount of calculation is also quite big, this will directly influence planning speed, be difficult to requirement of real time.Therefore the present invention proposes the envelope that utilizes the barrier rule body is similar to modeling, though this being similar to enlarged the obstacle territory, the description in obstacle territory is simplified greatly, has improved the efficient of planning effectively, and satisfies the requirement of security.Fig. 1 (a) is for adopting the approximate of minimum circumsphere satisfying barrier under the condition of precision, and Fig. 1 (b) adopts cuboid approximate to barrier.
(2) three-dimensional problem is converted into two-dimensional problems
The modeling to the working space of barrier at present mainly utilizes the C space law, but because the foundation of C space law is very difficult, and amount of calculation is increased along with the increase exponentially of the mechanical arm free degree, therefore we utilize the thought of C space law, three-dimensional working space are projected in two vertical planes (H plane, V plane) solve.In H plane and V plane, carry out route searching respectively then.Fig. 2 is for projecting to mechanical arm and barrier in the schematic diagram on H and V plane.Fig. 3 and Fig. 4 schematic diagram in the V plane and in the H plane, searching for.
(3) barrier merges in the obstacle territory
Barrier in the plane can be described as W as shown in Figure 2 i(x, y, z, r), wherein i is the barrier sequence number, and x, y, z are the coordinate of the centre of sphere in basis coordinates system, and r is the radius of ball.The obstacle territory that barrier forms in the plane is (α i, α i+ δ i) (α I+1, α I+1+ δ I+1) (α I+2, α I+2+ δ I+2) Λ.Wherein have when overlapping, these obstacle territories are merged, be through the obstacle territory on the plane after the arrangement when a plurality of obstacles territory
Figure C20061009100200061
(4) searching algorithm
Utilize the reverse optimization method of two trouble trees, as shown in Figure 6.Two Cha Shu of mechanical arm obstacle-avoiding route planning are made up of the T section altogether, and every section is divided into the g level again.The i section is avoided the obstacle territory of i section by reconciling the joint angle of each grade, forms i middle planning point
Figure C20061009100200062
The rest may be inferred, finally arrives the mechanical arm object pose
Figure C20061009100200063
Δ θ wherein j LAnd Δ j UFor this node to the connection weights of next stage node (in whole two trouble trees, though explain identical because the father node difference, so its value is different).In the planning of each grade, when satisfying the hard constraint at joint of mechanical arm angle as if this node, this node is solid node, otherwise is hollow node.Hollow node does not have child node, turns back to father node during planning and along another trouble planning.
The reverse optimization method of two trouble trees: begin the reverse root node that turns back to from the afterbody child node, calculate the weights of each paths (each bar all is that feasible keeping away hinders path planning) simultaneously
Figure C20061009100200064
At last according to penalty function
Figure C20061009100200065
Determine the optimal path of " path is the shortest ".E wherein G * 1=[1,1, Λ, 1] T
As shown in Figure 8, robot system is by pedestal, and six joint mechanical arms and square barrier are formed.
Wherein, A, B, C, D, E, F are respectively the installation site parameter of pedestal and mechanical arm; L1, L2, L3 is for simplifying back mechanical arm parameter;
G is the extension size;
LWH is the barrier parameter, and r is the circumsphere radius of barrier ( r = L 2 + W 2 + H 2 ) ;
In addition, the hard constraint condition of 6 joint angles of mechanical arm is:
1) adjustable range of each joint angle is (180 ~ 180);
According to current t constantly:
1) barrier is with respect to the position SS of pedestal x, SS y, SS z
2) 6 of mechanical arm initial joint angle Q 1, Q 2, Q 3, Q 4, Q 5, Q 6
3) 6 of mechanical arm target joint angle QQ 1, QQ 2, QQ 3, QQ 4, QQ 5, QQ 6
4) time step of the node of planning output is 0.25s;
Make following regulation:
The planning time step is: h=0.25s;
The motion step-length of each joint angle of mechanical arm in the unit interval is Δ θ i(i=1,2 ... 6); Next, in conjunction with Fig. 9, the robot obstacle-avoiding route planning method based on virtual robot is described.
The first step is determined the original state θ of mechanical arm i(0) and dbjective state θ i
In second step, determine time step h and Δ θ i
The 3rd step, the obstacle territory (HSS of dyscalculia thing in horizontal plane Min, HSS Max), and the obstacle territory in the vertical plane.
The 4th step is by θ i(0) sequential adjustment θ in the vertical plane of Que Dinging 2, θ 3, θ 5, up to l 1～l 3All on horizontal plane.
In the 5th step, press near principle θ 4Be adjusted to 180,0 ,-180 degree.
In the 6th step, judge if θ 1∈ (HSS Min, HSS Max) and QQ 1∈ (HSS Min, HSS Max) or θ 1＜HSS Min﹠amp; ﹠amp; QQ 1＞HSS MaxOr QQ 1＜HSS Min﹠amp; ﹠amp; θ 1＞HSS MaxThe time, enter next step, otherwise entered for the tenth step.
In the 7th step, calculate θ 1Standard target position QQ 1
The 8th step is with θ 1Be adjusted to QQ by current location 1
The 9th step is again by QQ 1Regulate θ in the vertical plane of determining 2, θ 3, θ 5, make and work as θ 1∈ (HSS Min, HSS Max) back L1, L2, L3 will can not bump against with barrier.
The tenth step is with θ 1Be transferred to QQ by current location 1
In the 11 step, calculate by QQ 1The obstacle territory of the vertical plane bottom base of determining.
In the 12 step, press θ 5, θ 3, θ 2The sequential adjustment joint angle to target joint angle QQ 5, QQ 3, QQ 2
If success then enter next step, otherwise planning failure entered for the 14 step.
In the 13 step, press θ 2, θ 3, θ 5The sequential adjustment joint angle to target joint angle QQ 2, QQ 3, QQ 5
If success then enter next step, otherwise planning failure entered for the 16 step.
In the 14 step, regulate θ 4To target joint angle QQ 4
In the 15 step, regulate θ 6To target joint angle QQ 6
In the 16 step, planning finishes.
Therefore, with respect to direct robot obstacle-avoiding the remote time delay of elimination is arranged, advantages such as field conditions are provided for severe rugged environment based on the robot obstacle-avoiding of virtual scene.This planing method can improve the security of planning, real-time and high efficiency.
What may be obvious that for the person of ordinary skill of the art draws other advantages and modification.Therefore, the present invention with wider aspect is not limited to shown and described specifying and exemplary embodiment here.Therefore, under situation about not breaking away from, can make various modifications to it by the spirit and scope of claim and the defined general inventive concept of equivalents thereof subsequently.

Claims (3)

1. robot obstacle-avoiding route planning method based on virtual scene comprises step:
(1) determines the original state θ of mechanical arm 1(0) and dbjective state θ 1
(2) determine time step h and Δ θ 1
(3) the obstacle territory HSS of dyscalculia thing in horizontal plane MinAnd HSS MaxAnd the obstacle territory in the vertical plane
(4) by θ 1(0) sequential adjustment θ in the vertical plane of Que Dinging 2, θ 3, θ 5
(5) press near principle θ 4Be adjusted to 180,0 ,-180 degree;
(6) judge if θ 1∈ (HSS Min, HSS Max) and QQ 1∈ (HSS Min, HSS Max) or θ 1＜HSS Min﹠amp; ﹠amp; QQ 1＞HSS MaxOr QQ 1＜HSS Min﹠amp; ﹠amp; θ 1＞HSS MaxThe time, enter next step, otherwise entered for the tenth step;
(7) calculate θ 1Standard target position QQ 1
(8) with θ 1Be adjusted to QQ by current location 1
(9) again by QQ 1Regulate θ in the vertical plane of determining 2, θ 3, θ 5, make and work as θ 1∈ (HSS Min, HSS Max) back L1, L2, L3 will can not bump against with barrier;
(10) with θ 1Be transferred to QQ by current location 1
(11) calculate by QQ 1The obstacle territory of the vertical plane bottom base of determining;
(12) press θ 5, θ 3, θ 2The sequential adjustment joint angle to target joint angle QQ 5, QQ 3, QQ 2If success then enters next step;
(13) press θ 2, θ 3, θ 5The sequential adjustment joint angle to target joint angle QQ 2, QQ 3, QQ 5If success then enters next step;
(14) regulate θ 4To target joint angle QQ 4
(15) regulate θ 6To target joint angle QQ 6
(16) planning finishes.
2. according to the method for claim 1, in step (13), if unsuccessful, then planning failure entered for the 14 step.
3. according to the method for claim 1, in step (14), if unsuccessful, then planning failure entered for the 16 step.
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