Optimization of high speed robot motion by distance field

摘要

Problem to be solved: to solve the robot collision avoidance motion using the distance field constraint function.A CAD or sensor data representing an obstacle in a robot work space is converted into a voxel to generate a three-dimensional binary matrix of voxel occupancy.Next, the corresponding distance map matrix is calculated.Each cell of the distance map matrix includes a distance to the nearest occupied cell.The distance map matrix is used as a constraint function for the motion planning optimization problem.Here, the optimization problem is convex and then solved repeatedly to avoid the obstacle and to generate a robot motion profile which minimizes the objective function such as the travel distance.The distance field optimization technique is quickly calculated and has a computational time independent of the number of obstacles.The proposed optimization technology is simple because it is not necessary to create a geometric primitive for approximating the shape of the robot and the obstacle.Diagram