EP4157589A4 - Verfahren zur roboterpfadplanung mit statischer und dynamischer kollisionsvermeidung in unsicherer umgebung - Google Patents

Verfahren zur roboterpfadplanung mit statischer und dynamischer kollisionsvermeidung in unsicherer umgebung Download PDF

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Publication number
EP4157589A4
EP4157589A4 EP20937802.5A EP20937802A EP4157589A4 EP 4157589 A4 EP4157589 A4 EP 4157589A4 EP 20937802 A EP20937802 A EP 20937802A EP 4157589 A4 EP4157589 A4 EP 4157589A4
Authority
EP
European Patent Office
Prior art keywords
static
collision avoidance
robot path
dynamic collision
uncertain environment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20937802.5A
Other languages
English (en)
French (fr)
Other versions
EP4157589A1 (de
Inventor
Yuanfeng MAO
Guo-Qing Wei
Li Fan
Xiaolan Zeng
Jianzhong Qian
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
EDDA Technology Inc
Original Assignee
EDDA Technology Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by EDDA Technology Inc filed Critical EDDA Technology Inc
Publication of EP4157589A1 publication Critical patent/EP4157589A1/de
Publication of EP4157589A4 publication Critical patent/EP4157589A4/de
Pending legal-status Critical Current

Links

Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35148—Geometric modeling for swept volume of moving solids
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37425—Distance, range
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40447—Bitmap based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40474—Using potential fields
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40475—In presence of moving obstacles, dynamic environment

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
EP20937802.5A 2020-05-26 2020-05-26 Verfahren zur roboterpfadplanung mit statischer und dynamischer kollisionsvermeidung in unsicherer umgebung Pending EP4157589A4 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2020/034493 WO2021242215A1 (en) 2020-05-26 2020-05-26 A robot path planning method with static and dynamic collision avoidance in an uncertain environment

Publications (2)

Publication Number Publication Date
EP4157589A1 EP4157589A1 (de) 2023-04-05
EP4157589A4 true EP4157589A4 (de) 2024-02-28

Family

ID=78745043

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20937802.5A Pending EP4157589A4 (de) 2020-05-26 2020-05-26 Verfahren zur roboterpfadplanung mit statischer und dynamischer kollisionsvermeidung in unsicherer umgebung

Country Status (3)

Country Link
EP (1) EP4157589A4 (de)
CN (1) CN114072254B (de)
WO (1) WO2021242215A1 (de)

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* Cited by examiner, † Cited by third party
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CN114415718B (zh) * 2021-12-22 2023-10-13 中国航天科工集团八五一一研究所 一种基于改进势场rrt算法的三维航迹规划方法
CN114859904B (zh) * 2022-04-24 2023-04-07 汕头大学 一种基于e-grn的集群围捕方法、执行装置和系统
CN114764252B (zh) * 2022-05-31 2026-02-03 广州科语机器人有限公司 动态避障方法、装置及移动机器人
CN114967710B (zh) * 2022-06-30 2024-09-06 重庆长安汽车股份有限公司 基于控制点拟合多项式自动驾驶避障路径规划系统及方法
DK181570B1 (en) * 2022-07-06 2024-05-28 Onrobot As Method and system for generating a trajectory for a robotic arm and a tool attached to the robotic arm
CN115629600B (zh) * 2022-08-01 2023-12-12 北方工业大学 一种基于缓冲维诺图的复杂动态安保环境下多机协同围捕方法
CN115317794B (zh) * 2022-08-10 2025-06-06 广州龙之杰科技集团有限公司 基于动态跟踪的经颅磁刺激导航方法、装置、设备及介质
CN115570566B (zh) * 2022-09-28 2024-08-30 长春工业大学 一种改进apf-rrt算法的机器人避障路径规划方法
CN115711624A (zh) * 2022-10-18 2023-02-24 中国科学院半导体研究所 运动代价地图构建方法、装置、无人设备及存储介质
CN115950439B (zh) * 2023-03-15 2023-06-02 季华实验室 双向rrt路径规划方法、装置、电子设备及存储介质
CN118068854B (zh) * 2024-04-24 2024-07-23 四川腾盾科技有限公司 一种基于人工势场的无人机避障路径规划方法
CN119141553B (zh) * 2024-11-11 2025-02-21 潍柴动力股份有限公司 多机械臂路径规划方法、控制方法、存储介质和电子设备

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KR101048098B1 (ko) * 2008-09-03 2011-07-11 한국과학기술원 로봇의 경로계획 장치 및 방법
US20120158178A1 (en) * 2010-12-20 2012-06-21 Samsung Electronics Co., Ltd. Robot and method for creating path of the robot
US20170241790A1 (en) * 2016-02-24 2017-08-24 Honda Motor Co., Ltd. Path plan generating apparatus for mobile body
CN108326849A (zh) * 2018-01-04 2018-07-27 浙江大学 一种基于改进人工势场法的多自由度机械臂动态避障路径规划方法
CN110262478A (zh) * 2019-05-27 2019-09-20 浙江工业大学 基于改进人工势场法的人机安全避障路径规划方法
CN110253570A (zh) * 2019-05-27 2019-09-20 浙江工业大学 基于视觉的工业机械臂人机安全系统
US20200086486A1 (en) * 2018-09-13 2020-03-19 Pilz Gmbh & Co. Kg Method and apparatus for collision-free motion planning of a manipulator

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US8577538B2 (en) * 2006-07-14 2013-11-05 Irobot Corporation Method and system for controlling a remote vehicle
JP5539596B2 (ja) * 2011-09-29 2014-07-02 パナソニック株式会社 自律移動装置、自律移動方法、及び、自律移動装置用のプログラム
CN103092204B (zh) * 2013-01-18 2016-04-13 浙江大学 一种混合的机器人动态路径规划方法
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Patent Citations (7)

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Publication number Priority date Publication date Assignee Title
KR101048098B1 (ko) * 2008-09-03 2011-07-11 한국과학기술원 로봇의 경로계획 장치 및 방법
US20120158178A1 (en) * 2010-12-20 2012-06-21 Samsung Electronics Co., Ltd. Robot and method for creating path of the robot
US20170241790A1 (en) * 2016-02-24 2017-08-24 Honda Motor Co., Ltd. Path plan generating apparatus for mobile body
CN108326849A (zh) * 2018-01-04 2018-07-27 浙江大学 一种基于改进人工势场法的多自由度机械臂动态避障路径规划方法
US20200086486A1 (en) * 2018-09-13 2020-03-19 Pilz Gmbh & Co. Kg Method and apparatus for collision-free motion planning of a manipulator
CN110262478A (zh) * 2019-05-27 2019-09-20 浙江工业大学 基于改进人工势场法的人机安全避障路径规划方法
CN110253570A (zh) * 2019-05-27 2019-09-20 浙江工业大学 基于视觉的工业机械臂人机安全系统

Non-Patent Citations (2)

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Title
KHATIB OUSSAMA: "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots", THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol. 5, no. 1, 1 May 1986 (1986-05-01), pages 90 - 98, XP093334774 *
See also references of WO2021242215A1 *

Also Published As

Publication number Publication date
CN114072254A (zh) 2022-02-18
WO2021242215A1 (en) 2021-12-02
EP4157589A1 (de) 2023-04-05
CN114072254B (zh) 2025-04-22

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