CN108362291A - A kind of robot A* obstacle-avoiding route planning methods based on optimization - Google Patents
A kind of robot A* obstacle-avoiding route planning methods based on optimization Download PDFInfo
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Abstract
The present invention relates to a kind of robot A* obstacle-avoiding route planning methods based on optimization, it causes to wear to reduce On-orbit servicing mechanical arm longtime running, it is proposed a kind of A* path plannings of optimization, because mechanical arm latter end often passes through a node mechanical arm and needs to stop and start once in engineering, the abrasion to mechanical arm is increased in this way, the method that this method is mentioned can reduce the node in searching route, increase the flatness in mechanical arm tail end path, reduce the frequency that mechanical arm stops and starts, this method is mapped to joint space, reduce the frequency of joint velocity variation, subtract pauciarticular abrasion, increase the service life of mechanical arm.A kind of improved cuboid envelope barrier collision checking method and cylindrical type envelope robot linkage itself collision checking method are wherein also proposed simultaneously, this method reduces computation complexity, computational efficiency is improved, the collision detection time is reduced, the preferential real-time for improving collision detection.
Description
Technical field
The invention belongs to robot and teleoperation field, the roads A* based on the verification optimization of seven freedom anthropomorphous machine's arm
Diameter planning planning, is related to a kind of robot A* obstacle-avoiding route planning methods based on optimization.
Background technology
With going deep into for space exploration, On-orbit servicing and repair are increasingly increased frequently, and wherein space manipulator is in sky
Between seem in the construction and maintenance stood and be even more important, space manipulator application technology has become the important research of space technology
Direction.Space manipulator replaces astronaut to complete job space task, such as assemble and build space station, discharge and recover satellites,
Safeguard Space Facilities and complete space science experiment etc., substantially reduce the risk of astronaut's extravehicular work, therefore space machine
Tool arm application technology is paid much attention to by domestic and international expert.Under microgravity environment, Space Manipulator System, which is in, freely to be floated
Floating state so that there are strong movements to couple between mechanical arm control variable and non-independent variable, and motion control difficulty adds
Greatly, to which the path planning of space manipulator becomes especially complex further, since space junk in space environment, space cabins
The external experimental rig etc. that sets is likely to become the obstacle in the in-orbit operating process of space manipulator, therefore in order to smoothly complete
In-orbit operation task, development space manipulator obstacle-avoiding route planning research is particularly significant, but space manipulator design has work
Space is big, movement flexibly, requirements, this patent such as service life is long, reliability and control accuracy requirement height be based on the proposition of this background
A kind of improved cuboid envelope method combination cylindrical envelope method carries out collision detection, this method increases the meter of collision detection
Speed is calculated, improves the real-time of path planning, while proposing that a kind of A* algorithms of optimization can be effectively increased mechanical arm tail end
The flatness of movement locus, not only reduces the frequency of joint of mechanical arm angular speed variation, and can reduce joint of mechanical arm fortune
Dynamic stop and start number, effectively reduces the abrasion of mechanical arm, extends mechanical arm service life；Finally unity with
Simulation study is carried out on visual studio2010 platforms, demonstrates the validity and practical value of this method.
Invention content
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of robot A* avoidances path rule based on optimization
The method of drawing
Technical solution
A kind of obstacle-avoiding route planning sides A* of robot based on optimization
Method, it is characterised in that steps are as follows：
Step 1 calculates outbound path using improvement A* path planning algorithms：
a1：Environment is modeled using Grid Method first, is divided into the cube that n × n × n length of side is suitable length,
Then with evaluation function for each cube assignment f (n)=g (n)+h (n), and f (n), g (n), h (n) values are calculated；It is described
Environment is a solid space of the starting point to destination node；The g (n) is Euclidean distance of the starting point to present node；Institute
H (n) present nodes are stated to the Euclidean distance of destination node；
a2：Starting point is added in Open chained lists, and starting point as present node；
a3：Face domain by 26 of present node in cube to be added in Open chained lists, and is saved using present node as his father
Point；
Concentrate the node for selecting f (n) values minimum as present node in Open；
And present node is added in Close chained lists, and is removed in Open chained lists；
Terminate to search for if terminal is added in Open chained lists, otherwise turns next step；
a4：If the 26 of present node when facing domain not in Open chained lists, faces domain by the 26 of present node and Open chained lists are added
In, and calculate the f (n) in f (n)=g (n)+h (n), g (n), h (n) values；If in Open chained lists, g (n) values are recalculated,
If smaller than previous g (n) value, g (n) values and father node are updated, repeats step a 3；
Present node in search process is set as searching route, as PiSet For
The position coordinates of present node；
Step 2 carries out path optimization using optimization algorithm：
If PiCollection is combined into the path point that original A* algorithm search arrives, PoFor the path node after optimization, expression formula is as follows：
To optimize the position coordinates of posterior nodal point；
Optimization process is as follows：
b1：It is added to PoIn set, starting, terminating point as path, as
b2：ConnectionWithIf line segment It is considered asIt is detected whether using collision checking method and obstacle
Object collides, and is connected if not collidingWithOtherwise next step is gone to；
b3：IfWith barrier collide, thenIt is added to PoSet, then connectsAnd
It is considered asReturn to step b2；
b4：As n=a-1, optimization terminates, and optimizing sequence node if b ＜ a isOtherwise
Path node sequence is
Advantageous effect
A kind of robot A* obstacle-avoiding route planning methods based on optimization proposed by the present invention, to reduce On-orbit servicing
Mechanical arm longtime running and cause to wear, a kind of A* path plannings of optimization are proposed, because mechanical arm latter end often passes through in engineering
It crosses a node mechanical arm to need to stop and start once, increases the abrasion to mechanical arm, the method that this method is mentioned in this way
The node in searching route can be reduced, the flatness in mechanical arm tail end path is increased, reduces the frequency that mechanical arm stops and starts
Rate, this method are mapped to joint space, reduce the frequency of joint velocity variation, subtract pauciarticular abrasion, increase making for mechanical arm
Use the service life.A kind of improved cuboid envelope barrier collision checking method and cylindrical type envelope machinery are wherein also proposed simultaneously
Arm link itself collision checking method, this method reduce computation complexity, improve computational efficiency, reduce the collision detection time, excellent
First improve the real-time of collision detection.
To sum up this method has the following advantages compared with prior art：
(1) increase the flatness in mechanical arm tail end path；
(2) node in path is reduced, the number that mechanical arm starts and stops is effectively reduced in engineering, reduces machine
The degree of wear of tool arm；
(3) when this method searches out the map paths come to joint space, the frequency of joint velocity variation is reduced.Effectively
Reduce the abrasion in joint, prolonged mechanical arm service life；
(4) the collision detection strategy mentioned, reduces computation complexity, improves collision detection efficiency.
Description of the drawings
Fig. 1：Collision detection simplified model
Fig. 2：A frame picture during manipulator motion
Specific implementation mode
In conjunction with embodiment, attached drawing, the invention will be further described：
Steps are as follows for specific implementation：
1, outbound path is calculated with traditional A* path planning algorithms first：
(1) Grid Method models environment first, is divided into the cube that n × n × n length of side is suitable length, then
Evaluation function is each cube assignment, and cost function is f (n)=g (n)+h (n)；And calculate f (n), g (n), h (n) values；
The environment is a solid space of the starting point to destination node；The g (n) be starting point to present node it is European away from
From；H (n) present node to destination node Euclidean distance；
(2) starting point is added in Open chained lists, and starting point as present node；
(3) face domain the 26 of present node to be added in Open chained lists, and using present node as its father node, in Open
Concentrate the node for selecting F values minimum as present node；
And present node is added in Close chained lists, and is removed in Open chained lists；
If terminal is added in Open chained lists, just terminates to search for, otherwise go to c；
(4) it when domain is faced not in Open chained lists in the 26 of c present nodes, is added in Open chained lists, and recalculate F, G, H
Value, if in Open chained lists, recalculates G values, if smaller than previous G values, updates G values and father node, repeats step (3).
Present node in search process is set as searching route, as PiSet For
The position coordinates of present node；
2, path optimization is carried out using optimization algorithm
If PiCollection is combined into the path point that original A* algorithm search arrives, PoFor the path node after optimization, expression formula is as follows
It is shown：
Optimization process is as follows：
(1)It is added to PoIn set, starting, terminating point as path, as
(2) it connectsWithIf line segment(It is considered as) do not collided with barrier, then it connectsWith
Judge whether to meet condition, otherwise goes to step (3)；
(3) ifWith barrier collide, thenIt is added to PoSet, then connectsAnd
It is considered asGo to step (2)
(4) as n=a-1, optimization terminates, and optimizing sequence node if b ＜ a isOtherwise
Path node sequence is
The barrier collision method：
According to search out come path (path is terminal position, and terminal angle is set as [0,0,0]) i.e. end pose root
Joint angle is found out according to inverse solution, the collision detection method that this patent proposes is used in combination to select one group of inverse solution not collided；Collision inspection
Survey method is as follows：
(1) it first has to carry out manipulator model simplification, each connecting rod is simplified to a line segment, then seven connecting rods
In maximum radius length be added on the thickness of barrier, as shown in Figure 1
(2) it is respectively p1 (x to set joint i and joint i+1 and form two extreme coordinates of spatial line segment1,y1,z1) and p2
(x2,y2,z2), the normal vector of face ABCD is N (nx,ny,nz), spatial line segment vector is H (x2-x1,y2-y1,z2-z1), point ABCD
Coordinate be respectively A (x1,y1,z1)、B(x2,y2,z2)、C(x3,y3,z3)、D(x4,y4,z4), and E (x5,y5,z5) (1) if N
H=0, and any point in line segment is that in the planes, then line segment is not parallel with plane, without intersection point.
(3) if NH ≠ 0, line segment is possible to intersect with plane, such as meet intersection point on line segment and intersection point planar,
If intersection point is p (x0,y0,z0), that is, meet
min(A(z1),B(z2))≤z0≤max(A(z1),B(z2))
min(A(x1),C(x3))≤x0≤max(A(x1),C(x3))
min(A(y1),E(y5))≤y0≤max(A(y1),E(y5))
Then spatial line segment intersects with space plane；Similarly judge the relationship between spatial line segment and other five faces.
4, simulating, verifying
Herein using mechanical arm parameter as shown in the table be model progress simulating, verifying, mechanical arm tail end with [1.5m,
2.5m, -1.0m, 0,0,0] be starting point with [2.5m, 0.5m, 2.0m, 0,0,0] for terminal simulating, verifying, wherein barrier has three
Place, centre coordinate are respectively [2.5m, 2.5m, 0.5m], and [3.5m, 0.5m, 1.0m], [1.5m, 1.5m, 1.5m], size is all
Mechanical arm tail end is presented below more in the paths at [1.75m, 0.75m, 1.0m, 0,0,0] in 1m × 1m × 1m cubes
32 kinds of inverse solution manipulator models, while it is front and back from the mechanical arm tail end path of origin-to-destination and each to provide routing algorithm optimization
The variation of a joint angle.Mechanical arm D-H parameters are as shown in table 1 below：
Table 1 emulates mechanical arm D-H parameters
Fig. 2 is simulation results, and wherein grey elder generation line is the path of optimization algorithm search, and black is tradition A* algorithms
The path searched.
It is analyzed from Fig. 2, the path that optimization algorithm searches out is more smooth, verifies validity and the practicality of optimization algorithm
Property.
Claims (1)
1. a kind of robot A* obstacle-avoiding route planning methods based on optimization, it is characterised in that steps are as follows：
Step 1 calculates outbound path using improvement A* path planning algorithms：
a1：Environment is modeled using Grid Method first, is divided into the cube that n × n × n length of side is suitable length, then
With evaluation function for each cube assignment f (n)=g (n)+h (n), and calculate f (n), g (n), h (n) values；The environment is
Starting point to destination node a solid space；The g (n) is Euclidean distance of the starting point to present node；The h (n)
Present node to destination node Euclidean distance；
a2：Starting point is added in Open chained lists, and starting point as present node；
a3：Face domain by 26 of present node in cube to be added in Open chained lists, and using present node as its father node；
Concentrate the node for selecting f (n) values minimum as present node in Open；
And present node is added in Close chained lists, and is removed in Open chained lists；
Terminate to search for if terminal is added in Open chained lists, otherwise turns next step；
a4：If the 26 of present node when facing domain not in Open chained lists, faces domain by the 26 of present node and be added in Open chained lists, and
F (n), g (n) in calculating f (n)=g (n)+h (n), h (n) values；If in Open chained lists, g (n) values are recalculated, if than first
Preceding g (n) value is small, then updates g (n) values and father node, repeats step a 3；
Present node in search process is set as searching route, as PiSetIt is current
The position coordinates of node；
Step 2 carries out path optimization using optimization algorithm：
If PiCollection is combined into the path point that original A* algorithm search arrives, PoFor the path node after optimization, expression formula is as follows：
To optimize the position coordinates of posterior nodal point；
Optimization process is as follows：
b1：It is added to PoIn set, starting, terminating point as path, as
b2：ConnectionWithIf line segment It is considered asIt detects whether to touch with barrier using collision checking method
It hits, is connected if not collidingWithOtherwise next step is gone to；
b3：IfWith barrier collide, thenIt is added to PoSet, then connectsAndIt is considered asReturn to step b2；
b4：As n=a-1, optimization terminates, and optimizing sequence node if b ＜ a isOtherwise path
Sequence node is
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| CN111399543A (en) * | 2020-04-04 | 2020-07-10 | 西安爱生技术集团公司 | Same-region multi-collision-free air route planning method based on A-star algorithm |
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