中国邮电高校学报(英文版) ›› 2016, Vol. 23 ›› Issue (1): 73-85.doi:

• Intelligence • 上一篇    下一篇

Real-time dynamic system to path tracking and collision avoidance for redundant robotic arms

高欣,贾庆轩,孙汉旭,陈钢,张倩茹,杨堉坤   

  1. 北京邮电大学
  • 收稿日期:2015-10-08 修回日期:2016-01-15 出版日期:2016-02-26 发布日期:2016-02-28
  • 通讯作者: 高欣 E-mail:xlhhh74@bupt.edu.cn
  • 基金资助:

    国家重点基础研究发展计划(973计划);自然科学基金

Real-time dynamic system to path tracking and collision avoidance for redundant robotic arms

  • Received:2015-10-08 Revised:2016-01-15 Online:2016-02-26 Published:2016-02-28
  • Contact: Xin GAO E-mail:xlhhh74@bupt.edu.cn
  • Supported by:

    Supported by 973 Program under Grant No. 2015CB453000

关键词:

动态障碍物避障路径规划

Abstract:

An dynamic system for real-time obstacle avoidance path planning of redundant robots is constructed in this paper. Firstly, the inter-frame difference method is used to identify the moving target and to calculate the target area, then on the basis of color features and gradient features extracted from the target area, the feature fusion Cam-Shift mean shift algorithm is used to track target, improving the robustness of the tracking algorithm. Secondly, a parallel two-channel target identification and location method based on binocular vision is proposed, updating the target’s three-dimensional information in real time. Then, a dynamic collision-free path planning method is implemented: the safety rods are removed through the intersection test, and the minimum distance is derived directly by using the coordinate values of the target in the local coordinate system of the rod. On this basis, the obstacle avoidance gain and escape velocity related to the minimum distance is established, and obstacle avoidance path planning is implemented by using the zero space mapping matrix of redundant robot. Experiments are performed to study the efficiency of the proposed system.

Key words:

dynamic obstacle avoidance path planning