Initial reference generation for robot optimized motion planning

摘要

Problem to be solved: to provide a robot operation planning optimization technique using a sophisticated initial reference path to converge quickly to the solution when a large number of iterations are required to reach the final convergence solution.When calculating a new path using the operation optimization, a previously calculated candidate reference path having a similar starting point and a target avoiding environment constraint for a new path is selected from the storage device.In order to generate an initial reference path, the candidate reference path is adjusted in consideration of the difference between the starting point and the target point of a new path in comparison with the starting point of the previously calculated path and the target point in all the state points along the length.An initial reference path adjusted to match the start point and the target point is used as the starting state for the operation optimization calculation.By using an initial reference path similar to the newly converged new path, the optimization calculation converges faster than the simple initial reference path.Diagram