改进人工势场法的洗浴机器人擦洗路径规划

针对洗浴机器人末端执行器与人体直接接触擦洗的自主导航问题进行了研究，提出一种基于人体点云的改进人工势场法三维覆盖路径规划算法。首先，在传统人工势场法基础上增设障碍物引力势场，使机器人能够贴近障碍物表面向目标点移动，并且通过添加虚拟目标点的方法克服了凹陷区域产生的局部极小值问题。然后，将人体点云切段分割后投影至平面，结合改进的人工势场法完成对人体表面的覆盖路径规划。以人体模型点云为对象进行仿真实验及对比，结果表明提出算法可以快速有效地完成基于人体点云的三维覆盖擦洗路径规划。

Scrubbing path planning of bathing robot based on improved artificial potential field method

Aiming at the autonomous navigation of the end effector of the bathing robot in direct contact with the human body, this paper proposed a three-dimensional coverage path planning algorithm which applied to the improved artificial potential field method based on the human point cloud. Firstly, it added the obstacle gravitational potential field to the basis of the traditional artificial potential field method, so that the robot could press close to the obstacle surface and moved toward to target point. And by adding virtual target points, it overcame the local minimum problem caused by the concave region. Then, it segmented the human point cloud and projected it onto a plane, combined with the improved artificial potential field method to complete the coverage path planning for the human body surface. Conducting simulation experiments based on a human model point cloud, the experimental results show that the proposed algorithm can quickly and effectively complete the 3D coverage scrubbing path planning.