CN106166750B - A kind of modified D* mechanical arm dynamic obstacle avoidance paths planning method - Google Patents
A kind of modified D* mechanical arm dynamic obstacle avoidance paths planning method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The embodiment of the invention provides a kind of modified D*Mechanical arm obstacle-avoiding route planning method, realize mechanical arm dynamic obstacle avoidance path planning, it include: to convert cuboid envelope for the barrier in all components of mechanical arm and environment by hierarchical bounding boxes, and devise the Fast Collision Detection between related algorithm realization mechanical arm and mechanical arm and mechanical arm and environment；According to space manipulator feature, the path search algorithm based on heuristic function is obtained；It will be applied to seven freedom mechanical arm D*Obstacle-avoiding route planning improves, and completes seven freedom mechanical arm dynamic obstacle avoidance path planning.The technical solution provided according to embodiments of the present invention, to realize that seven freedom mechanical arm is based on modified D*The method of dynamic obstacle avoidance path planning.
Description
[technical field]
The present invention relates to multi-degree-of-freemechanical mechanical arm Collision Detection and dynamic obstacle avoidance Path Planning Techniques more particularly to seven
Degree-of-freedom manipulator dynamic obstacle avoidance paths planning method.
[background technique]
Human sciences' technology make rapid progress trend in, robot technology with its be widely applied range, flexibly
Usage mode, and the unique need in job that requires special skills becomes one of inevitable development trend of new and high technology, also therefore
Every country is received more and more to pay close attention to.In recent years, application of the robot technology in aerospace field becomes to get over
Come more important.Unquestionably, mechanical arm plays a crucial role in aerospace field.Mechanical arm working performance it is strong
Weak, stability height directly affects all various aspects of in-orbit operation.
Obstacle-avoiding route planning is a mechanical arm critically important link during the motion, is related to mechanical arm in movement
Accuracy and stability and response time in the process.Particularly, in more complicated environment, mechanical arm needs
Ensure to cook up a feasible operating path in the case where inherently safe.Currently, grinding about mechanical arm obstacle-avoiding route planning
Study carefully and mostly do not consider the case where dynamic barrier occur in Real Time Obstacle Avoiding path planning problem and environment, results in related side
Method can not be widely used in more complicated scene.Therefore, how research realizes multi-degree-of-freemechanical mechanical arm Real Time Obstacle Avoiding road
Diameter is planned and considers that occurring the case where dynamic barrier in environment has important practical significance.
[summary of the invention]
In view of this, the embodiment of the invention provides one kind to be based on modified D* mechanical arm dynamic obstacle avoidance path planning side
Method, to realize the dynamic obstacle avoidance path planning of seven freedom mechanical arm.
The embodiment of the invention provides a kind of methods, comprising:
A kind of modified D* mechanical arm dynamic obstacle avoidance paths planning method, which is characterized in that the described method includes:
Envelope is carried out to mechanical arm and environment according to simple cuboid, based on the test for intersection between cuboid, completes machine
Between tool arm and the Fast Collision Detection of mechanical arm and environment.
According to space manipulator characteristic, the path search algorithm based on heuristic function is obtained.
Mechanical arm dynamic obstacle avoidance path planning is carried out according to improved D* algorithm.
In the above method, the Rapid Collision Detection Algorithm is included at least:
According to simple cuboid envelope, the envelope of space manipulator and environment is carried out；
According to the rectangular body characteristics of envelope, eclipsed form rotation transformation is carried out, the envelope region formed it into is approximately round
Cylinder or sphere；
According to position orientation relation between cuboid, the collision detection between cuboid is carried out, completes Fast Collision Detection process.
In the above method, the heuristic function search-path layout algorithm includes:
According to space manipulator characteristic, the heuristic function of heuristic search algorithm is improved；
Search dimension D, location finding step delta l and posture step-size in search Δ θ are introduced according to space manipulator characteristic.
The direction that dimension is mechanical arm tail end search in space is searched for, can be set, location finding step-length is machine
The location finding length of tool arm end, posture step-size in search is that the posture of mechanical arm tail end searches for Eulerian angles length, by with machine
Tool arm terminal position and posture are the improvement that target carries out heuristic function, make it that can finally search target position and posture.
In the above method, the dynamic obstacle avoidance algorithm includes:
Based on improved D* dynamic search algorithm, it is respectively OPEN list, CLOSED that D* algorithm, which opens up three status lists,
List and NEW list, store different path costs respectively: the collection of OPEN list is combined into A, for storing the node without access
Path cost；The collection of CLOSED list is combined into B, for storing the path cost of accessed node；The collection of NEW list is combined into C, uses
In the path cost for storing node to be updated.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantages that
In the technical solution of the embodiment of the present invention, according to cuboid test for intersection thought, mechanical arm and mechanical arm are realized
Between and the Fast Collision Detection between mechanical arm and environment, and successfully by the barrier in all arm segments and environment
Object is hindered to carry out envelope all of simple cuboid.According to the method for searching path of heuristic function, D* algorithm is carried out
It improves, the dynamic obstacle avoidance path planning of seven freedom mechanical arm can be applied to.The present invention is calculated by Fast Collision Detection
The realization of method and modified D* obstacle-avoiding route planning algorithm are realized, seven freedom mechanical arm dynamic obstacle avoidance path rule are realized
The method of drawing, solves the problems, such as that mechanical arm is unable to complete active path planning, provides more for robotic arm manipulation personnel well
Flexibly, more real operating method.
[Detailed description of the invention]
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without any creative labor, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the flow diagram of modified D* mechanical arm obstacle-avoiding route planning method provided by the embodiment of the present invention；
Fig. 2 is the schematic diagram of Fast Collision Detection between cuboid in the embodiment of the present invention；
[specific embodiment]
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of modified D* mechanical arm dynamic obstacle avoidance paths planning method, referring to FIG. 1, it is
The flow diagram of modified D* mechanical arm dynamic obstacle avoidance paths planning method provided by the embodiment of the present invention, as shown in Figure 1,
Method includes the following steps:
Step 101, envelope is carried out to mechanical arm and environment according to simple cuboid, is surveyed based on the intersection between cuboid
Examination, complete mechanical arm between and mechanical arm and environment Fast Collision Detection.
Specifically, during Fast Collision Detection between mechanical arm and between mechanical arm and environment, to mechanical arm
With environment carry out it is appropriate modeling and simplifications be it is very necessary, the complexity of the two geometrical model be directly related to collision examine
The precision and efficiency of method of determining and calculating.Consider the diversity of mechanical arm and environment shape, while in order to reduce operation to guarantee collision inspection
The efficiency of survey, generally using bounding box method come the barrier in envelope mechanical arm itself and environment.The basic thought of bounding box method
It is bigger with volume and simple shape solid approximatively to replace complicated object.Wherein, simple geometric element is such as long
Cube, cylindrical body, sphere etc. are widely adopted.
In order to further enhance the speed of service of collision detection, and mention for the realization of mechanical arm dynamic obstacle avoidance path planning
For possibility, the present invention wraps all barriers in all joints of mechanical arm and environment using simple cuboid
Network.When the barrier in the component or environment that mechanical arm is included can be approximately cylindrical body or sphere, using rectangular to envelope
The method that body is rotated is realized approximate.
By taking cuboid approximation is constituted cylindrical body as an example, detailed process is, using cuboid center as origin, into each surface
The heart is that reference axis establishes rectangular coordinate system in space, and the cuboid of envelope is rotated according to setting angle (such as around coordinate around reference axis
45 degree of axis continuous rotation), cylindrical body is replaced with the multiple cuboid approximations generated in rotary course.Similarly, around three reference axis
Rotation approximate can replace sphere.When rotate angle setting it is smaller when, the degree for restoring cuboid and sphere is higher.
Then touching between mechanical arm and itself and mechanical arm and environment is carried out with the test for intersection between cuboid
Hit detection, the specific steps are as follows:
The detection of cuboid centre distance is carried out using following formula, returns to collision if meeting, otherwise, is continued；
Wherein, Dist (GC1,GC2) it is to indicate one G of cuboidC1With two G of cuboidC2The distance between, | | OcOc' | | it indicates
Cuboid GC1Center OcWith cuboid GC2Center Oc' between distance, s1、s2、s3、s1'、s2'、s3' it be starting point is cuboid center,
Terminal is the direction vector at three mutual not opposite face centers, dSFor the safety margin of collision detection；
Step 2: judge the vertex of cuboid 1 whether in cuboid 2, this i.e. point-cuboid collision detection.If there is 1
Vertex collision then returns to collision, otherwise continues to judge next vertex, and third step is entered if not colliding；
Step 3: judge whether the side of cuboid 1 collides with cuboid 2, this i.e. line segment-cuboid collision detection.If having 1
The collision of side then returns to collision, otherwise continues to judge lower a line, returns if not colliding and do not collide.
Specific collision detection process carried out using binary tree by the way of between mechanical arm and mechanical arm and mechanical arm and
Collision detection between environment, detailed process is as follows:
The joint of mechanical arm, each component of connecting rod are subjected to cuboid envelope according to corresponding size；
Known environmental information is subjected to cuboid envelope；
Corresponding AABB box is generated according to the cuboid dimensions of envelope, is owned as unit of joint by what each joint included
Cuboid generates corresponding AABB tree, and all joints are constituted AABB tree spanning forest；
Similarly, the binary tree forest of constructing environment envelope；
It is carried out according to the forest of foundation, the traversal between binary tree, if the cuboid test for intersection of binary tree bottom returns
Collision is returned, then collides between two articles, otherwise, does not collide.
Step 102, according to space manipulator characteristic, the path search algorithm based on heuristic function is obtained.
Specific method is that whole process carries out route searching using the method for sectionally smooth join, from starting point to target point
Between path when cannot directly reach, by heuristic search, search for several intermediate points, by starting point and target point and
Intermediate point is stitched together, so that it may form the path of completion.At the end of algorithm executes, intermediate point number determines immediately.By
In the intervention for inspiring item, in each search step, algorithm tends to the optimal direction of resource distribution always to be carried out, and guarantees entire appoint
Cost of being engaged in is minimum.The heuristic function of heuristic search algorithm, is shown below:
F (p)=g (p)+h (p)
Wherein, f (p) represents the cost value of the node, and g (p) represents starting point to the minimum cost value of arbitrary node n, h (p)
Represent the cost inspiration value of destination node n.And the cost value of g (p), h (p) are codetermined by multiple and different optimization aims
, it is shown below
G (p)=k1×g1(p)+k2×g2(p)+...
H (p)=k1×h1(p)+k2×h2(p)+...
Wherein k1, k2 ... it is corresponding weight, g1(p)、g2And h (p) ...1(p)、h2(p) ... it waits to optimize accordingly
Function, by obtaining adaptability of the node under current state in conjunction with different optimization aims, for example, optimization aim can be
Joint stroke, end distance, the indexs such as consumption energy.And p is the decision variable of function, it is determined by different variables, is one
Group set.
Heuristic search algorithm wide variety includes: local preferentially search method, best first search, A* algorithm etc..
These algorithms all employ heuristic function, but the strategy when specifically choosing best search node is different.Mission planning function
For module in order to avoid preferentially search method can only obtain locally optimal solution for part, the optimal node of solution is at this stage best
Not necessarily this global best problem uses A* algorithm as searching algorithm.A* algorithm is not given up in search
Node (unless the node is to die for the sake of honour a little), in the appraisal of each step, all the assessment values of current node and pervious node
Compare, obtains one " optimal node ", the loss of " optimal node " can be effectively prevented in this way.
A* algorithm (is starting point A) as to be processed using the distal point of mechanical arm original state it from the off
Location point is stored in one " opening list ", that is, the list of the location point to be checked such as one.Later, it begins look for around starting point
" father node " that the location point that can be reached places them into " opening list ", and they are arranged is A.
Search dimension D, location finding step delta l and posture step-size in search Δ θ, search are introduced according to space manipulator characteristic
Dimension is the direction of mechanical arm tail end search in space, can be set, and location finding step-length is the position of mechanical arm tail end
Search length is set, posture step-size in search is that the posture of mechanical arm tail end searches for Eulerian angles length, by with mechanical arm tail end position
It is the improvement that target carries out heuristic function with posture, didactic path search process is then carried out using A* algorithm.
The concept of nominal father node is introduced in A* algorithm, i.e., is saved using the father sought when node as child node searching route
Point is not the next point in true path, and in path search process, the father node of present node is always saved with son before
Point carries out direct path planning, if can directly reach, then the nominal father node of present node be exactly before node, this
Sample, which can be realized, only can reach target point with the splicing of several intermediate points, realize the avoidance road about entire mechanical arm
Path search process, search can reach the intermediate point of target, all intermediate points spliced, and be formed from starting point to target point
Path, complete entire path search process.
Step 103, mechanical arm dynamic obstacle avoidance path planning is carried out according to improved D* algorithm.
It specifically, is exactly, using improved D* algorithm, to be carried out dynamic according to above heuristic path search process
Obstacle-avoiding route planning.
D* algorithm re-searches for path using the information that last time is planned, avoids computing repeatedly identical data, improves secondary
The efficiency of planning.Using traversal search method, the up, down, left and right four directions to current location or upper and lower, left and right, a left side every time
Upper, lower-left, upper right, the direction of bottom right 8 scan for.Cost of any position to target position, choosing are estimated with evaluation function
The least direction of cost is selected as the next direction of advance in path.
D* algorithm opens up three status lists i.e. OPEN list, CLOSED list and NEW list, stores different roads respectively
Diameter cost: the collection of OPEN list is combined into A, for storing the node path cost without access；The collection of CLOSED list is combined into B,
For storing the path cost of accessed node；The collection of NEW list is combined into C, for storing the path cost of node to be updated.
Firstly, the destination node with business of formerly helding the post of is the start node of A* algorithm, using A* algorithmic procedure with rising for business of formerly helding the post of
Beginning node is the destination node of A* algorithm, carries out heuristic path search process, that is, carries out the pretreatment of environment.
In order to seek the monotonic sequence Y of shortest path, the minimal path cost that K is sequence can be set and estimate, from starting
Node has planned the route searching of completion to destination node along A*, if next node environment is unchanged, according to preparatory
The path of planning continues forward, to modify path cost estimated value K if environment transformation, carry out new route searching, if search
To A* algorithm uncovered area, then the node is put into NEW list, is continued searching, so recycled, terminates item until meeting
Part.
The barrier mobile according to certain track is set among environment, mechanical arm carries out the pretreatment of environment first,
It detects in the next unconverted situation of environment, mechanical arm is mobile according to original route, when the environment for detecting next step is sent out
It changes and changes, mechanical arm is based on improved D* obstacle-avoiding route planning algorithm, carries out the dynamic pathfinding of next step, finds a collisionless
Path.By such pathfinding process, real-time dynamic obstacle avoidance process is completed.Because the collision detection efficiency of simple envelope is very
Height, and the advantage of D* obstacle-avoiding route planning algorithm is improved, enable mechanical arm to complete dynamic avoidance pathfinding.
The technical solution of the embodiment of the present invention has the advantages that
In the technical solution of the embodiment of the present invention, according to cuboid test for intersection thought, mechanical arm and mechanical arm are realized
Between and the Fast Collision Detection between mechanical arm and environment, and successfully by the barrier in all arm segments and environment
Object is hindered to carry out envelope all of simple cuboid.According to the method for searching path of heuristic function, D* algorithm is carried out
It improves, the dynamic obstacle avoidance path planning of seven freedom mechanical arm can be applied to.The present invention is calculated by Fast Collision Detection
The realization of method and modified D* obstacle-avoiding route planning algorithm are realized, seven freedom mechanical arm dynamic obstacle avoidance path rule are realized
The method of drawing, solves the problems, such as that mechanical arm is unable to complete active path planning, provides more for robotic arm manipulation personnel well
Flexibly, more real operating method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (3)
1. the mechanical arm dynamic obstacle avoidance paths planning method of modified D* a kind of:
According to the test for intersection thought of cuboid envelope, quick and more accurate collision detection algorithm is obtained；
According to space manipulator characteristic, heuristic function search-path layout algorithm is obtained；
According to modified D* dynamic search algorithm, mechanical arm dynamic obstacle avoidance path planning algorithm is obtained:
Wherein, Rapid Collision Detection Algorithm includes at least:
According to simple cuboid envelope, the envelope of space manipulator and environment is carried out；
According to the rectangular body characteristics of envelope, eclipsed form rotation transformation is carried out, the envelope region formed it into is approximately cylindrical body
Or sphere；
According to position orientation relation between cuboid, the collision detection between cuboid is carried out, completes Fast Collision Detection process；
Collision detection between cuboid includes:
It is by the process that cuboid approximately equivalent is cylindrical body or sphere by rotating, using cuboid center as origin, arrives each table
Face center be reference axis establish rectangular coordinate system in space, by cuboid construct cylindrical body process for, by the cuboid of envelope around
Reference axis is rotated according to setting angle, replaces circle with the superposed graph approximation that the multiple cuboids generated in rotary course are constituted
Cylinder, it is similarly, approximate instead of sphere around three reference axis rotations；
The collision detection process of simple cuboid carries out the detection of cuboid centre distance using following formula, returns if meeting
Otherwise collision continues；
Wherein, Dist (GC1,GC2) it is to indicate one G of cuboidC1With two G of cuboidC2The distance between, | | OcOc' | | it indicates rectangular
Body GC1Center OcWith cuboid GC2Center Oc' between distance, s1、s2、s3、s1'、s2'、s3' it be starting point is cuboid centre coordinate,
Terminal is the direction vector at three mutual not opposite face centers, dSFor the safety margin of collision detection；
Step 2: judge the vertex of cuboid one whether in cuboid two, this i.e. point-cuboid collision detection, if there is 1 top
Point collision then returns to collision, otherwise continues to judge next vertex, and third step is entered if not colliding；
Step 3: judge whether the side of cuboid one collides with cuboid two, this i.e. line segment-cuboid collision detection, if there is 1
Side collision then returns to collision, otherwise continues to judge lower a line, returns if not colliding and do not collide.
2. the method according to claim 1, wherein the heuristic function search-path layout algorithm includes:
According to space manipulator characteristic, the heuristic function of heuristic search algorithm is improved, as described in following formula:
F (p)=g (p)+h (p)
Wherein, f (p) represents the cost value of the node, and g (p) represents starting point to the minimum cost value of arbitrary node n, and h (p) is represented
To the cost inspiration value of destination node n, and the cost value of g (p), h (p) are codetermined by multiple and different optimization aims,
As described in following formula:
G (p)=k1×g1(p)+k2×g2(p)+...
H (p)=k1×h1(p)+k2×h2(p)+...
Wherein k1,k2... it is corresponding weight, g1(p)、g2And h (p) ...1(p)、h2(p) ... it is corresponding majorized function, leads to
Cross and obtain adaptability of the node under current state in conjunction with different optimization aims, optimization aim be joint stroke, end away from
From or consumption energy, be index in need of consideration in the space manipulator course of work, and p is the decision variable of function, it is not by
Same variable determines, is one group of set；
Search dimension D, location finding step delta l and posture step-size in search Δ θ are introduced according to space manipulator characteristic, searches for dimension
For the direction of the search of mechanical arm tail end in space, it is able to carry out the location finding that setting position step-size in search is mechanical arm tail end
Length, and set posture step-size in search and search for Eulerian angles length as the posture of mechanical arm tail end, by with mechanical arm tail end position
The improvement for carrying out heuristic function for target with posture is set, makes it that can finally search target position and posture.
3. the method according to claim 1, wherein the mechanical arm dynamic obstacle avoidance path planning algorithm includes:
Based on improved D* dynamic search algorithm, it is respectively OPEN list, CLOSED list that D* algorithm, which opens up three status lists,
With NEW list, OPEN list is the list of the location points to be checked such as a preservation, and CLOSED list is that a preservation does not need
The list of the location point checked again for；Set A is used to store the path cost of the location point in OPEN list, and set B is used to deposit
Store up the path cost of the location point in CLOSED list, set C is for storing the path cost of node to be updated in NEW list；
Firstly, the destination node with business of formerly helding the post of is the start node of A* algorithm, using A* algorithmic procedure with the starting section for business of formerly helding the post of
Point is the destination node of A* algorithm, carries out heuristic path search process, that is, carries out the pretreatment of environment, A* algorithm is opened from starting point
Begin, using the distal point of mechanical arm original state as starting point A, is stored in OPEN list using it as location point to be processed；
Later, the location point that can be reached around starting point is begun look for, is placed them into OPEN list, and theirs are set
" father node " is A；Later, starting point A is deleted from OPEN list, and CLOSED list is added in starting point A；
In order to seek the monotonic sequence Y of shortest path, needs to be arranged the minimal path cost that K is sequence and estimate, from start node
The route searching of completion is planned along A* to destination node, if next node environment is unchanged, according to preparatory planning
Path continue forward, if environment transformation if modify path cost estimated value K, new route searching is carried out, if searching A*
The node is then put into NEW list, continues searching by algorithm uncovered area, so recycles, until meeting termination condition；
Using improved D* searching algorithm, the path search algorithm with heuristic function is introduced into robotic arm path planning process
In, make mechanical arm that can select the optimal path for meeting constraint according to heuristic function during path planning, is calculated by A*
Method pre-processes environment, so that pathfinding process greatly simplifies, can adapt to the environment with dynamic barrier, realizes dynamic
Obstacle-avoiding route planning.
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| CN113343412B (en) * | 2021-04-22 | 2022-02-22 | 国网浙江省电力有限公司嘉兴供电公司 | Accurate positioning virtual simulation method for tail end of mechanical arm |
| CN114986524B (en) * | 2022-08-08 | 2022-10-28 | 中国科学院自动化研究所 | Mechanical arm track planning method and device based on brain-computer interface and electronic equipment |
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