EP4157589A4 - A robot path planning method with static and dynamic collision avoidance in an uncertain environment - Google Patents

A robot path planning method with static and dynamic collision avoidance in an uncertain environment 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
path planning
planning method
robot path
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
German (de)
French (fr)
Other versions
EP4157589A1 (en
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/en
Publication of EP4157589A4 publication Critical patent/EP4157589A4/en
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 A robot path planning method with static and dynamic collision avoidance in an uncertain environment Pending EP4157589A4 (en)

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 (en) 2023-04-05
EP4157589A4 true EP4157589A4 (en) 2024-02-28

Family

ID=78745043

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20937802.5A Pending EP4157589A4 (en) 2020-05-26 2020-05-26 A robot path planning method with static and dynamic collision avoidance in an uncertain environment

Country Status (3)

Country Link
EP (1) EP4157589A4 (en)
CN (1) CN114072254A (en)
WO (1) WO2021242215A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114415718B (en) * 2021-12-22 2023-10-13 中国航天科工集团八五一一研究所 Three-dimensional track planning method based on improved potential field RRT algorithm
CN114859904B (en) * 2022-04-24 2023-04-07 汕头大学 Cluster trapping method, executing device and system based on E-GRN
CN114967710B (en) * 2022-06-30 2024-09-06 重庆长安汽车股份有限公司 Automatic driving obstacle avoidance path planning system and method based on control point fitting polynomial
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 (en) * 2022-08-01 2023-12-12 北方工业大学 Multi-machine collaborative trapping method based on buffer Wino diagram in complex dynamic security environment
CN115570566B (en) * 2022-09-28 2024-08-30 长春工业大学 Robot obstacle avoidance path planning method for improving APF-RRT algorithm
CN115711624A (en) * 2022-10-18 2023-02-24 中国科学院半导体研究所 Motion cost map construction method and device, unmanned equipment and storage medium
CN115950439B (en) * 2023-03-15 2023-06-02 季华实验室 Bidirectional RRT path planning method and device, electronic equipment and storage medium
CN118068854B (en) * 2024-04-24 2024-07-23 四川腾盾科技有限公司 Unmanned aerial vehicle obstacle avoidance path planning method based on artificial potential field

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101048098B1 (en) * 2008-09-03 2011-07-11 한국과학기술원 Robot route planning device and method
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 (en) * 2018-01-04 2018-07-27 浙江大学 A kind of multi-degree-of-freemechanical mechanical arm dynamic obstacle avoidance paths planning method based on modified embedded-atom method
CN110262478A (en) * 2019-05-27 2019-09-20 浙江工业大学 Man-machine safety obstacle-avoiding route planning method based on modified embedded-atom method
CN110253570A (en) * 2019-05-27 2019-09-20 浙江工业大学 The industrial machinery arm man-machine safety system of view-based access control model

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8577538B2 (en) * 2006-07-14 2013-11-05 Irobot Corporation Method and system for controlling a remote vehicle
WO2013046563A1 (en) * 2011-09-29 2013-04-04 パナソニック株式会社 Autonomous motion device, autonomous motion method, and program for autonomous motion device
CN103092204B (en) * 2013-01-18 2016-04-13 浙江大学 A kind of Robotic Dynamic paths planning method of mixing
US10618174B2 (en) * 2014-12-09 2020-04-14 Aeolus Robotics, Inc. Robotic Touch Perception
CN110442125A (en) * 2019-07-15 2019-11-12 电子科技大学 A kind of dynamic path planning method of mobile robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101048098B1 (en) * 2008-09-03 2011-07-11 한국과학기술원 Robot route planning device and method
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 (en) * 2018-01-04 2018-07-27 浙江大学 A kind of multi-degree-of-freemechanical mechanical arm dynamic obstacle avoidance paths planning method based on modified embedded-atom method
CN110262478A (en) * 2019-05-27 2019-09-20 浙江工业大学 Man-machine safety obstacle-avoiding route planning method based on modified embedded-atom method
CN110253570A (en) * 2019-05-27 2019-09-20 浙江工业大学 The industrial machinery arm man-machine safety system of view-based access control model

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2021242215A1 *

Also Published As

Publication number Publication date
EP4157589A1 (en) 2023-04-05
WO2021242215A1 (en) 2021-12-02
CN114072254A (en) 2022-02-18

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