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FAST METHOD FOR ROBOT PATH PLANNING WITH OBSTACLE AVOIDANCE
FAST METHOD FOR ROBOT PATH PLANNING WITH OBSTACLE AVOIDANCE
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机译:避免障碍物路径规划的快速方法
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摘要
The present teaching relates to a method and system for path planning. Information of a current pose of a robotic arm having a plurality of operable segments is obtained. The information includes a plurality of values, each of which corresponds to an angle formed between consecutive operable segments of the robotic arm. A desired pose where the robotic arm needs to reach is also obtained. An angle step-value is computed for the current pose of the robotic arm based on a function of a distance between the current pose and the desired pose, wherein the angle step value is to be used to determine a plurality of candidate next poses of the plurality of operable segments. One or more of candidate next poses is selected based on at least one criterion, and a trajectory is determined from the current pose to the desired pose based on the selected next poses.
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