Motion planning of a dual-arm mobile robot in the configuration-time space
Motion planning of a dual-arm mobile robot in the configuration-time space
复制标题
双臂移动机器人在构型时间空间的运动规划
DOI：
10.1109/iros.2009.5354154
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Han
中科院分区：
文献类型：
--
作者：
Yi;Han
本文的主要目标是开发一种机器人手臂自主导航系统，使其能够在厨房、工厂等复杂环境中运行。为了解决动态环境中的规划问题，我们提出了一种CT-RRTs（配置时间空间中的双向RRT）规划器，它可以使机器人手臂在部分已知的动态环境中成功到达目标，同时保留RRT-Connect的贪婪启发式。它是在机器人手臂配置和移动物体的位置的增强状态时间空间中规划的。使用各种技术来加速规划并增强其安全性。我们使用新的规划器开发了双臂规划器，它可以作为解决运动规划中更高层次问题的基础。实验表明，该方法能够有效解决双臂运动规划问题。
The main objective of this paper is to develop an autonomous navigation system for robot arms so that they can operate in complex environments, such as kitchen, factory, etc. In order to solve the problem of planning in the dynamic environments, we proposed a CT-RRTs (Bi-direction RRTs in Configuration Time space) planner, which can make the robot arm reach goal successfully in the partially known dynamic environment while remains the greedy heuristics of the RRT-Connect. It is planned in the augmented state-time space of the robot arm configuration and the positions of the moving objects. Various techniques are used to accelerate planning and enhance its safety. We used the new planner to develop the dual-arm planner, and it can be used as the basis to solve higher level problems in motion planning. The experiments show that the proposed method can effectively resolve the dual-arm motion planning problem.