Mobile robot arm trajectory generation for operation in confined environments
Mobile robot arm trajectory generation for operation in confined environments
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DOI：
10.1177/0959651814559760
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发表时间：
2015-03
期刊：
影响因子：
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通讯作者：
D. Wall;J. Economou;H. Goyder;K. Knowles;P. Silson;M. Lawrance
中科院分区：
文献类型：
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作者：
D. Wall;J. Economou;H. Goyder;K. Knowles;P. Silson;M. Lawrance
本文提出了一种新的轨迹生成算法，适用于在狭窄和危险的环境中操作。开发了一种技术，它可以在真实的时间，计算存在的安全路径导航机器人机械臂之间的障碍物没有碰撞，并准确地生成它们之间的有效路径。使用现有的环境数据在控制伺服域中创建环境的地图，其中地图空间的每个维度表示操纵器的自由度之一。该地图是一个多维空间，它表示操纵器的控制范围，并包含要避免的障碍物。臂末端执行器的起始位置和期望位置可以被转换到该空间中，使得可以在它们之间生成路径。该空间被分割成一个节点图，并使用Dijkstra最短路径算法来生成安全轨迹。如果可以找到成功的轨迹，则臂期望位置是可实现的，并且构成轨迹的节点的列表形成可以被遵循以将臂驱动到其期望几何形状的一组控制要求。
This article gives a novel trajectory generation algorithm which is suitable for operating in confined and dangerous environments. A technique is developed which can, in real time, calculate the existence of a safe path for navigating a robotic manipulator arm between obstacles without collision and accurately generating an efficient path between them. A map of the environment is created in the control servo domain using existing environment data where each dimension of the map space represents one of the degrees of freedom of the manipulator. The map is a multi-dimensional space that represents the control ranges of the manipulator and which contains obstacles to be avoided. The start and desired locations of the arm end effector can be converted into this space so that a path can be generated between them. The space is split into a graph of nodes, and a Dijkstra’s shortest path algorithm is used to generate a safe trajectory. If a successful trajectory can be found, then the arm desired location is achievable and the list of nodes that make up the trajectory form a set of control requirements that can be followed to drive the arm to its desired geometry.