TY - GEN
T1 - Dynamic obstacle avoidance planning for manipulators of home
AU - He, Zhimin
AU - Yuan, Fu
AU - Chen, Diansheng
AU - Wang, Min
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - With the maturity of robotics and serious aging situation, home service robots have been prevailing around the world, which requires the robotic arm of home service robots to be flexible for obstacle avoidance to work in complex and changing home environment. Based on the actual requirements of home service robots, this paper proposes an obstacle avoidance planning algorithm based on improved artificial potential field method for dynamic obstacle avoidance of redundant manipulators. The velocity of the target object and obstacle were introduced into the end-planned field structure to plan a collision-free path for the end of the arm and track the dynamic target point. Meanwhile, the deviation speed of the arm member in the obstacle repulsive field was added to ensure obstacle avoidance. Finally, the effectiveness of the algorithm was verified in the simulation environment.
AB - With the maturity of robotics and serious aging situation, home service robots have been prevailing around the world, which requires the robotic arm of home service robots to be flexible for obstacle avoidance to work in complex and changing home environment. Based on the actual requirements of home service robots, this paper proposes an obstacle avoidance planning algorithm based on improved artificial potential field method for dynamic obstacle avoidance of redundant manipulators. The velocity of the target object and obstacle were introduced into the end-planned field structure to plan a collision-free path for the end of the arm and track the dynamic target point. Meanwhile, the deviation speed of the arm member in the obstacle repulsive field was added to ensure obstacle avoidance. Finally, the effectiveness of the algorithm was verified in the simulation environment.
UR - https://www.scopus.com/pages/publications/85079033617
U2 - 10.1109/ROBIO49542.2019.8961766
DO - 10.1109/ROBIO49542.2019.8961766
M3 - 会议稿件
AN - SCOPUS:85079033617
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 2737
EP - 2742
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -