An intermediate point obstacle avoidance algorithm for serial robot
The trajectory planning and obstacle avoidance of serial robot is an important area of research and efficient optimization algorithms are needed. This article proposes an intermediate point obstacle avoidance algorithm to ensure smooth trajectory and efficient movement during the obstacle avoidance...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-05-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814018774627 |
| _version_ | 1818491552360562688 |
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| author | Zhuo Chen Weihua Su Bin Li Baosong Deng Hang Wu Baozhen Liu |
| author_facet | Zhuo Chen Weihua Su Bin Li Baosong Deng Hang Wu Baozhen Liu |
| author_sort | Zhuo Chen |
| collection | DOAJ |
| description | The trajectory planning and obstacle avoidance of serial robot is an important area of research and efficient optimization algorithms are needed. This article proposes an intermediate point obstacle avoidance algorithm to ensure smooth trajectory and efficient movement during the obstacle avoidance process. Using the intermediate point obstacle avoidance algorithm, the robotic arm can steer obstacle around with the minimum joint space variations and the shortest end motion trajectory. We also design a novel collision detection strategy and fitness evaluation function based on genetic algorithm to optimize the intermediate point parameters. In order to evaluate the performance of the intermediate point obstacle avoidance algorithm, we have conducted three typical experiments: single obstacle, multiple obstacles, and no obstacle. The experimental results demonstrate that the proposed method can not only effectively realize the obstacle avoidance, but also efficiently improve the movement performance of the robotic arm. |
| first_indexed | 2024-12-10T17:32:32Z |
| format | Article |
| id | doaj.art-31d561bb6f5e41509796f5558c76162e |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-10T17:32:32Z |
| publishDate | 2018-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-31d561bb6f5e41509796f5558c76162e2022-12-22T01:39:38ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402018-05-011010.1177/1687814018774627An intermediate point obstacle avoidance algorithm for serial robotZhuo Chen0Weihua Su1Bin Li2Baosong Deng3Hang Wu4Baozhen Liu5School of Mechanical Engineering, Tianjin University of Technology, Tianjin, ChinaNational Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, ChinaSchool of Mechanical Engineering, Tianjin University of Technology, Tianjin, ChinaNational Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, ChinaInstitute of Medical Support Technology, College of Systems Engineering, Academy of Military Sciences, Tianjin, ChinaChina Astronaut Research and Training Center, Beijing, ChinaThe trajectory planning and obstacle avoidance of serial robot is an important area of research and efficient optimization algorithms are needed. This article proposes an intermediate point obstacle avoidance algorithm to ensure smooth trajectory and efficient movement during the obstacle avoidance process. Using the intermediate point obstacle avoidance algorithm, the robotic arm can steer obstacle around with the minimum joint space variations and the shortest end motion trajectory. We also design a novel collision detection strategy and fitness evaluation function based on genetic algorithm to optimize the intermediate point parameters. In order to evaluate the performance of the intermediate point obstacle avoidance algorithm, we have conducted three typical experiments: single obstacle, multiple obstacles, and no obstacle. The experimental results demonstrate that the proposed method can not only effectively realize the obstacle avoidance, but also efficiently improve the movement performance of the robotic arm.https://doi.org/10.1177/1687814018774627 |
| spellingShingle | Zhuo Chen Weihua Su Bin Li Baosong Deng Hang Wu Baozhen Liu An intermediate point obstacle avoidance algorithm for serial robot Advances in Mechanical Engineering |
| title | An intermediate point obstacle avoidance algorithm for serial robot |
| title_full | An intermediate point obstacle avoidance algorithm for serial robot |
| title_fullStr | An intermediate point obstacle avoidance algorithm for serial robot |
| title_full_unstemmed | An intermediate point obstacle avoidance algorithm for serial robot |
| title_short | An intermediate point obstacle avoidance algorithm for serial robot |
| title_sort | intermediate point obstacle avoidance algorithm for serial robot |
| url | https://doi.org/10.1177/1687814018774627 |
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