WO2023024317A1 - Procédé et appareil d'évitement d'obstacle de robot, et robot - Google Patents

Procédé et appareil d'évitement d'obstacle de robot, et robot Download PDF

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Publication number
WO2023024317A1
WO2023024317A1 PCT/CN2021/135758 CN2021135758W WO2023024317A1 WO 2023024317 A1 WO2023024317 A1 WO 2023024317A1 CN 2021135758 W CN2021135758 W CN 2021135758W WO 2023024317 A1 WO2023024317 A1 WO 2023024317A1
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Prior art keywords
joint
angle
robot
obstacle
obstacle avoidance
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PCT/CN2021/135758
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English (en)
Chinese (zh)
Inventor
刘益彰
熊友军
罗璇
张志豪
葛利刚
陈春玉
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深圳市优必选科技股份有限公司
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Publication of WO2023024317A1 publication Critical patent/WO2023024317A1/fr

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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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages

Definitions

  • the present application relates to the technical field of robot control, in particular to a robot obstacle avoidance method, device and robot.
  • the working environment of the robot is also changeable.
  • Various static or dynamic obstacles often appear within the working space of the robot. Obstacles collide, resulting in damage to the robot body or obstacles.
  • collisions can be predicted to a certain extent, but it is difficult to replan the trajectory in real time according to the dynamic relative pose, and it is difficult for the general obstacle avoidance algorithm to ensure that the obstacle is avoided while ensuring the completion of the task.
  • the embodiment of the present application provides a robot obstacle avoidance method, device and robot.
  • the robot obstacle avoidance method determines the joint position or angle constraint of the robot by using the joint's own limit and obstacles, and combines the joint angular velocity constraint to jointly control the constructed
  • the obstacle avoidance optimization problem is solved to ensure that the obtained solution can complete the terminal speed task as much as possible while completing the obstacle avoidance.
  • Embodiments of the present application provide a robot obstacle avoidance method, including:
  • the position of the obstacle detect whether there is a predicted collision point in all the links corresponding to the joint axis along the direction of the end of the robot, and when there is a predicted collision point, calculate the distance between the predicted collision point on the corresponding link and the obstacle.
  • Rotation angle the rotation angle is used as the anti-collision angle limit of the joint where the corresponding joint axis is located;
  • the obstacle avoidance optimization function with the joint angular velocity as the optimization variable and the terminal velocity as the control target is solved to obtain the optimal solution of the joint angular velocity
  • the motion control of the robot is performed by using the optimal solution of the joint angular velocity.
  • the detection according to the position of the obstacle whether there is a predicted collision point of all the connecting rods corresponding to the joint axis along the direction of the end of the robot includes:
  • intersection point When there is an intersection point between the rotation track and any connecting rod, the intersection point is determined to be a predicted collision point.
  • the detection according to the position of the obstacle whether there is a predicted collision point for all the connecting rods corresponding to the joint axis along the direction of the end of the robot includes:
  • intersection point When there is an intersection point between the rotation track and any connecting rod, the intersection point is determined to be a predicted collision point.
  • the calculating the rotation angle between the predicted collision point on the corresponding link and the obstacle includes:
  • a second rotation angle at which the obstacle rotates counterclockwise to the predicted collision point is calculated according to the first rotation angle, and the second rotation angle is used as a lower limit of an anti-collision angle.
  • the physical angle limit of the joint includes the upper limit of the physical angle and the lower limit of the physical angle of the joint, and the determination based on the physical angle limit of the corresponding joint of the robot and the anti-collision angle limit Angle constraints of the corresponding joints described above, including:
  • a maximum value is selected from the lower limit of the physical angle and the difference between the joint angle at the current moment and the lower limit of the anti-collision angle as the lower limit of the joint angle constraint.
  • each group of rotation angles is used as multiple anti-collision angle limits of the joint where the corresponding joint axis is located; the multiple anti-collision angle limits are used to determine the corresponding joint with the physical angle limit of the corresponding joint angle constraints.
  • the multiple anti-collision angle limits and the physical angle limits of the corresponding joints determine the angle constraints of the corresponding joints according to the following rules:
  • the obstacle avoidance optimization function uses the square of the slack variable as the optimization index; the expression of the obstacle avoidance optimization function is as follows:
  • w is the slack variable
  • J is the speed Jacobian matrix of the robot
  • J is the joint angular velocity vector of all joints of the robot
  • T is the control command period of the robot
  • Embodiments of the present application also provide a robot obstacle avoidance device, including:
  • the collision detection module is used to detect, according to the position of the obstacle, whether there is a predicted collision point on all the connecting rods corresponding to the joint axis along the direction of the end of the robot, and when there is a predicted collision point, calculate the relationship between the predicted collision point on the corresponding connecting rod and the predicted collision point.
  • the rotation angle between the obstacles, the rotation angle is used as the anti-collision angle limit of the joint where the corresponding joint axis is located;
  • An angle constraint determination module configured to determine the angle constraint of the joint based on the physical angle limit of the joint and the anti-collision angle limit;
  • the optimization solution module is used to solve the obstacle avoidance optimization function with the joint angular velocity as the optimization variable and the terminal velocity as the control target according to the angular constraints of each joint of the robot and the self-constraints of each joint angular velocity, to obtain the joint angular velocity the optimal solution;
  • the motion control module is used to control the motion of the robot by using the optimal solution of the joint angular velocity.
  • An embodiment of the present application also provides a robot, the robot includes a processor and a memory, the memory stores a computer program, and the processor is used to execute the computer program to implement the above robot obstacle avoidance method.
  • the embodiment of the present application also provides a readable storage medium, which stores a computer program, and when the computer program is executed by a processor, implements the above-mentioned robot obstacle avoidance method.
  • the obstacle avoidance method of the robot in the embodiment of the present application uses obstacles as the joint position or angle constraints of the robot, and at the same time considers the self-limiting of the robot joints to determine the joint angle limit, and also combines the self-constraints of the joint angular velocity to control the obstacle avoidance.
  • the optimization problem solves the joint angular velocity to ensure that the obtained solution can complete obstacle avoidance; and because the obstacle avoidance optimization problem takes the terminal velocity as the control target, it also completes the task of following the terminal velocity as much as possible while performing obstacle avoidance.
  • Fig. 1 shows the schematic flow chart of the robot obstacle avoidance method of the embodiment of the present application
  • FIG. 2 shows a schematic flow diagram of a planar robot detecting and predicting a collision point in a robot obstacle avoidance method according to an embodiment of the present application
  • Fig. 3 a and Fig. 3 b respectively show the schematic diagram that the planar robot of the robot obstacle avoidance method of the embodiment of the present application collides with an obstacle and a plurality of obstacles;
  • FIG. 4 shows a schematic flow chart of detecting and predicting a collision point for a space-moving robot in a robot obstacle avoidance method according to an embodiment of the present application
  • Fig. 5 shows a schematic diagram of a space robot colliding with an obstacle in the robot obstacle avoidance method of the embodiment of the present application
  • Fig. 6 shows a schematic structural diagram of a robot obstacle avoidance device according to an embodiment of the present application.
  • the quadratic programming problem is mainly the process of selecting the optimal solution from multiple solutions under the constraints of equality and inequality.
  • the main form of the quadratic programming problem is as follows:
  • H is a Hessian matrix
  • x is an n-dimensional optimization variable
  • f is a row vector
  • a eq is an mxn (m ⁇ n) dimensional matrix
  • b eq is m Row and column vector
  • Ax ⁇ b is an inequality constraint
  • A is a matrix with n columns
  • b is a column vector.
  • the range of motion and flexibility of the robot are often increased by adding redundant joints.
  • the existing processing of redundant joints is generally very complicated and takes a long time to calculate, and there are certain limitations in practical use.
  • considering the characteristics of the robot's own structure it often has various constraints such as joint angles, joint angular velocities, and joint torques in different application scenarios.
  • Optimal kinematics inverse solution the embodiment of this application will use the quadratic programming problem to solve the obstacle avoidance optimization.
  • the robot obstacle avoidance method proposed in the embodiment of this application constructs an obstacle avoidance optimization function with the joint angular velocity as the optimization variable and the terminal velocity as the control target, adding obstacles as the position or angle limit of the robot and considering the physical properties of the robot joints. limit to obtain the angle constraints of the corresponding joints, and then add the joint angle constraints and the joint angular velocity's own constraints as the constraints of the obstacle avoidance optimization function to optimally solve the obstacle avoidance optimization function.
  • the solution obtained in this way makes While avoiding obstacles, the robot also completes the terminal speed following task as much as possible. The following will be described in conjunction with specific embodiments.
  • this embodiment proposes an obstacle avoidance method for a robot, which can be used for obstacle avoidance in different scenarios with one or more obstacles.
  • the robot obstacle avoidance method includes:
  • Step S110 according to the position of the obstacle, detect whether there is a predicted collision point on all the links of the corresponding joint axis along the direction of the end of the robot, and if there is a predicted collision point, calculate the distance between the predicted collision point on the corresponding link and the obstacle Rotation angle.
  • the rotation angle is used as the anti-collision angle limit of the joint where the corresponding joint axis is located.
  • the above-mentioned predicted collision point position refers to the predicted position where the robot will come into contact with the obstacle.
  • the position of the obstacle is transformed into a constraint on the joint angle, and then used as a constraint condition of the obstacle avoidance optimization function, so that the obtained solution can avoid collision with the obstacle.
  • planar motion robots abbreviated as planar robots
  • space motion robots referred to as space robots
  • some mechanical arms used for plane grinding are usually planar robots; Workshop processing manipulators, biped robots, etc. that perform relatively complex operations in three-dimensional space are usually space robots, but of course they are not limited thereto.
  • the detection process of whether there is a predicted collision point in the above step S110 includes:
  • Sub-step S210 calculating the distance from the corresponding joint axis to the obstacle according to the position of the obstacle.
  • the robot can obtain them in advance; for dynamic obstacles with indefinite positions, the robot can obtain them through real-time communication with external devices or real-time detection using sensory sensors, etc., which is not limited here.
  • the obstacle avoidance method of this embodiment may be applicable to obstacle avoidance of static obstacles and also applicable to obstacle avoidance of dynamic obstacles, and the principle is the same.
  • this embodiment calculates the distance from the obstacle to each joint axis of the robot, and judges whether the joint where the corresponding joint axis is located needs to add the corresponding obstacle constraint.
  • a known obstacle can be regarded as a point in the plane, and for a joint axis, it is recorded as the origin, and the coordinates of the two points are used to calculate the distance from the obstacle point to the origin of the current joint axis.
  • Sub-step S220 when locking all the joints of the corresponding joint axis along the direction of the robot base, take the corresponding joint axis as the origin and the above-mentioned distance as the radius, calculate the virtual rotation of the obstacle along the link motion plane connected by the corresponding joint axis rotation trajectory.
  • the corresponding joint axis is marked as the origin O, and P is the position of the obstacle.
  • O the origin
  • OP the position of the obstacle.
  • Sub-step S230 when there is an intersection point between the rotation track and any connecting rod, determine the intersection point as the predicted collision point.
  • the joint axis O can be used to The distance of the obstacle P and the position of the predicted collision point C are calculated using the triangle principle to calculate the rotation angle between the obstacle and the predicted collision point.
  • the rotation angle will be used as the anti-collision angle limit of the joint where the joint axis O is located.
  • the above-mentioned rotation may include clockwise rotation and counterclockwise rotation.
  • the obstacle is rotated clockwise to the first rotation angle of the predicted collision point As the upper limit of the anti-collision angle limit; and, according to the first rotation angle Calculate the counterclockwise rotation of the obstacle to the second rotation angle of the predicted collision point Take it as the lower limit of the anti-collision angle limit. Therefore, the anti-collision angle limit of the joint where the joint axis O is located can be expressed as
  • an obstacle may intersect with multiple links at the same time.
  • the corresponding rotation angle can be calculated for each predicted collision point as the multiple anti-collision angle limits bit.
  • the rotation angle between each predicted collision point and the obstacle is calculated, and the calculated Each group of rotation angles will be used as multiple anti-collision angle limits for the joint where the corresponding joint axis is located.
  • the detection process of whether there is a predicted collision point in the above step S110 includes:
  • Sub-step S310 calculating the vertical distance from the corresponding joint axis to the obstacle according to the position of the obstacle. Exemplarily, reference may be made to the above-mentioned step S210 for details, and the description will not be repeated here.
  • sub-step S320 the obstacle is expanded to a preset length in a direction parallel to the corresponding joint axis to obtain an expanded area of the obstacle.
  • this embodiment will expand the obstacle.
  • the expansion is performed according to a preset length in a direction parallel to the corresponding joint axis to obtain a corresponding expansion area, as shown in FIG. 5 .
  • the expanded region of the obstacle can be used for collision detection. It can be understood that the preset length can be determined by the actual shape of the obstacle.
  • Sub-step S330 when locking all the joints with the corresponding joint axis along the direction of the robot base, take the corresponding joint axis as the origin and the above-mentioned vertical distance as the radius, and calculate the virtual rotation trajectory of the expansion area around the corresponding joint axis.
  • sub-step S330 The principle of sub-step S330 is similar to that of the above-mentioned step S120. The only difference between them is that in sub-step S120, an obstacle point rotates in the plane of motion of the connecting rod, while in sub-step S330, an expansion area rotates around a joint axis, as shown in Figure 5 .
  • Sub-step S340 when there is an intersection point between the rotation trajectory and any connecting rod, then determine the intersection point as the predicted collision point.
  • intersection point C is the predicted collision point.
  • the corresponding rotation angle can also be calculated by using the triangle principle according to the vertical distance R, the preset length L, etc. The principle is similar to the calculation method of the rotation angle of the above-mentioned planar motion robot, and will not be described again here.
  • Step S120 determining the angle constraint of the joint based on the physical angle limit and the anti-collision angle limit of the joint.
  • the angle constraint of the joint is jointly determined by taking the obstacle as the angle constraint of the robot and considering the physical limit of the robot's joint itself, and adding it to the constraints of the constructed obstacle avoidance optimization function, so that It is guaranteed that the obtained kinematic inverse solution will not collide with obstacles and can satisfy its own structural constraints. It can be understood that if the corresponding joint does not have the above-mentioned anti-collision angle limit constraint, then the angle constraint of the joint only needs to consider the physical angle limit of the joint.
  • the joint angle self-constraint due to the limitation of the joint structure of the robot, some joint positions or angles are unreachable, so there will be joint physical limitations.
  • the physical limit of the joint mainly refers to the limit of the joint position; for the rotational joint, the physical limit of the joint mainly refers to the limit of the joint angle.
  • the obstacle avoidance method in this embodiment can be applied to a robot of a rotary joint type and a robot of a translational joint type, and the principle is similar.
  • the angle physical limit of a joint includes a physical angle upper limit and a physical angle lower limit.
  • the angle constraint includes the upper limit of the above-mentioned angle constraint and the lower limit of the angle constraint, and for the above-mentioned step S120, exemplarily, includes:
  • the angle constraint of joint i corresponding to the current joint axis can be determined as follows: from the upper limit of the physical angle of the joint i And the joint angle of joint i at time t Upper limit of anti-collision angle The sum of these two values, choose the minimum value as the upper limit of the angle constraint of the joint i; and, from the lower limit of the physical angle of the joint i And the joint angle of joint i at time t and anti-collision angle lower limit The difference between these two values, the maximum value is selected as the lower limit of the angle constraint of the joint i. Exemplarily, if expressed in a formula, then:
  • the rotation angle between each predicted collision point and the obstacle is calculated, and each set of calculated rotation angles will be used as the joint axis where the joint axis is located.
  • the upper limit of the upper limit of the k anti-collision angle can be determined first, and then from the minimum value of the upper limit and the sum of the joint angle of the joint at time t, and the upper limit of the physical angle of joint i The smaller value is selected as the upper limit of the angle constraint.
  • the maximum value of the lower limits of the k anti-collision angles can be determined first, and then from the difference between the joint angle of the joint at time t and the maximum value of the lower limit, and the physical Angle lower limit The larger value is selected as the lower limit of the angle constraint. If expressed by the formula, there are:
  • k is the number of predicted collision points; and are the upper and lower limits of the physical angle of the i-th joint, respectively; is the joint angle of the i-th joint at time t; and are the upper and lower bounds of the angle constraints of the i-th joint, respectively.
  • Step S130 according to the angular constraints of each joint of the robot and the self-constraints of each joint angular velocity, solve the obstacle avoidance optimization function with the joint angular velocity as the optimization variable and the terminal velocity as the control target to obtain the optimal solution of the joint angular velocity.
  • this embodiment will pre-build an obstacle avoidance optimization function with the joint angular velocity as the control variable and the end speed as the control target.
  • the obstacle avoidance optimization function will add corresponding constraints related to obstacles, of course, other constraints can also be added, for example, it can include but not limited to the robot's own physical constraints including the joint angle or joint position, the joint angular velocity's own physical constraints Constraints, etc. More constraints can be added according to actual needs.
  • joint angle constraint that considers obstacles. If joint i does not have the above-mentioned anti-collision angle limit, that is, it will not collide with obstacles, then in the formula and can be replaced by and
  • each joint angular velocity for example, if the upper limit of the i-th joint angular velocity is The lower limit is Then the i-th joint angular velocity Should meet:
  • the above-mentioned obstacle avoidance optimization function will introduce a slack variable, and an index to be optimized is obtained based on the slack variable.
  • the optimization index may be the square of the slack variable, etc., of course, may also take other forms related to the slack variable, which are not limited here.
  • the square of the slack variable is used as the optimization index, and the above-mentioned composite constraint of joint angular velocity including obstacles is taken as an example.
  • the expression of the obstacle avoidance optimization function is as follows:
  • some open source solvers can be used to solve the quadratic programming, so as to obtain the optimal joint angular velocity. It can be understood that when
  • 2 0, it means has a solution, that is, there are joint angular velocities under the constraints The terminal velocity of the robot is And when
  • Step S140 using the optimal solution of the joint angular velocity to control the motion of the robot.
  • the joint angular velocity may be used for integral processing to obtain an optimal joint angle or joint position. Furthermore, the calculated joint angles or joint positions are used as control commands and sent to the corresponding joint motors, so that the robot can realize obstacle avoidance motion. At the same time, the end of the robot can also perform corresponding speed following tasks.
  • the robot obstacle avoidance method of this embodiment uses obstacles as the joint angle or position constraints of the robot, and combines the joint angle or position, and the joint angular velocity's own constraints to solve the joint angular velocity of the constructed obstacle avoidance optimization problem to ensure that the obtained
  • the solution can complete obstacle avoidance; at the same time, because the obstacle avoidance optimization problem takes the terminal speed as the control target, it can also complete the terminal speed following task as much as possible while avoiding obstacles.
  • the obstacle avoidance method can be applied to various scenarios such as one or more obstacles, dynamic or static obstacles, etc., and has universality. In addition, this method has nothing to do with the joint type and motion type of the robot, and it is universal. Whether it is a robot with rotational joints or translational joints, or a planar motion robot or a space motion robot, this method can be used for joint
  • the angular velocity is optimized to achieve the purpose of obstacle avoidance control.
  • the robot obstacle avoidance device 100 includes:
  • the collision detection module 110 is used to detect, according to the position of the obstacle, whether there is a predicted collision point on all the links of the corresponding joint axis along the direction of the end of the robot, and when there is a predicted collision point, calculate the relationship between the predicted collision point on the corresponding link and The rotation angle between the obstacles, the rotation angle is used as the anti-collision angle limit of the joint where the corresponding joint axis is located.
  • An angle constraint determining module 120 configured to determine the angle constraint of the corresponding joint based on the anti-collision angle limit of the joint and the physical angle limit of the corresponding joint.
  • the optimization solving module 130 is used to solve the obstacle avoidance optimization function with the joint angular velocity as the optimization variable and the terminal velocity as the control target according to the angular constraints of each joint of the robot and the self-constraints of each joint angular velocity, to obtain the joint Optimal solution for angular velocity.
  • the motion control module 140 is configured to use the optimal solution of the joint angular velocity to control the motion of the robot.
  • the device in this embodiment corresponds to the method in the above-mentioned embodiment 1, and the optional items in the above-mentioned embodiment 1 are also applicable to this embodiment, so the description will not be repeated here.
  • the present application also provides a robot, for example, the robot may be a robot with multiple degrees of freedom.
  • the robot includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the mobile terminal to execute the above robot obstacle avoidance method or the various modules in the above robot obstacle avoidance device function.
  • the present application also provides a readable storage medium for storing the computer program used in the above robot.
  • each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams can be implemented by a dedicated hardware-based system that performs the specified function or action. may be implemented, or may be implemented by a combination of special purpose hardware and computer instructions.
  • each functional module or unit in each embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions described are realized in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

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Abstract

Procédé d'évitement d'obstacle de robot, appareil d'évitement d'obstacle de robot (100) et robot. Le procédé d'évitement d'obstacle de robot consiste à : détecter, en fonction de la position d'un obstacle, la présence d'un point de collision prédit dans toutes les liaisons d'arbres d'articulation correspondants le long d'une direction d'extrémité de robot, et si un point de collision prédit est présent, calculer un angle de rotation entre le point de collision prédit sur la liaison correspondante et l'obstacle, l'angle de rotation étant utilisé en tant que limite d'angle d'anticollision de l'articulation où l'arbre d'articulation correspondant se situe (S110); déterminer une contrainte d'angle de l'articulation sur la base d'une limite d'angle physique et de la limite d'angle d'anticollision de l'articulation (S120); résoudre, en fonction de la contrainte d'angle de chaque articulation du robot et d'une auto-contrainte de chaque vitesse angulaire d'articulation, une fonction d'optimisation d'évitement d'obstacle avec une vitesse angulaire d'articulation en tant que variable d'optimisation et une vitesse d'extrémité de queue en tant que cible de commande pour obtenir une solution optimale de la vitesse angulaire d'articulation (S130); et réaliser une commande de mouvement sur le robot en utilisant la solution optimale de la vitesse angulaire d'articulation (S140).
PCT/CN2021/135758 2021-08-24 2021-12-06 Procédé et appareil d'évitement d'obstacle de robot, et robot WO2023024317A1 (fr)

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CN113618742B (zh) * 2021-08-24 2022-07-29 深圳市优必选科技股份有限公司 一种机器人避障方法、装置和机器人
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CN114227686A (zh) * 2021-12-28 2022-03-25 深圳市优必选科技股份有限公司 一种机器人避障控制方法、装置、终端设备及存储介质
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