关键词: 机械臂, 避障, 运动规划, 代价地图

Abstract:

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.

Key words: manipulator, obstacle avoidance, motion planning, cost map