基于空间代价地图的机械臂无碰撞运动规划

针对家庭服务机器人机械臂高安全性和低算法复杂度的两大需求,提出一种基于空间代价地图的机械臂运动规划新方法。利用空间代价地图来描述机械臂与约束条件发生冲突的可能性,以概率分析代替简单的布尔判断,提供了更合理的最优规划依据,从而实现更安全可靠的规划。同时将一个六自由度的规划问题降维为一个三自由度规划和一个四自由度规划的问题,在此基础上利用无需实时计算的先验碰撞数据代替实时的碰撞检测。利用该方法在ROS的rviz仿真平台上进行验证,结果表明该方法有效地提高了机械臂规划的安全性并降低了计算复杂度,有一定的实用价值。

Collision-free motion planning formanipulator based on space cost map

To meet the requirements of high security and low algorithm complexity of the manipulator of domestic service robots, we propose a trajectory planning method based on the space cost map for manipulator. The space cost map is used to describe the possibility of conflicts between the manipulator and its constraint conditions, which judges by probability analysis instead of simple Boolean, so it can provide a more reasonable optimal planning basis, thus realizing a more safe and reliable planning. Meanwhile, a 6DoF planning problem is transformed into a 3DoF planning and a 4DoF planning problem. Based on that, priori collision data without the requirement of real-time computation replace real-time collision detections, which greatly reduces the algorithm complexity in terms of time and space. This method is validated on rviz simulation platform with the Robot Operating System. Validation results show that the proposed method can effectively improve the security of the manipulator and reduce the algorithm complexity, and has certain practical value.