The Autonomous Route Planning Algorithm for Rock Drilling Manipulator Based on Collision Detection

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Shenglong Nie, Bo Chen, Yichao Li, Dianzheng Wang, Yundou Xu
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引用次数: 0

Abstract

In the field of high-redundancy manipulators, specifically in the rock drilling manipulator domain, fast and efficient path planning is crucial. Therefore, this paper proposes an improved algorithm, v-BI-RRT, based on the BI-RRT algorithm and oriented vector methods. In this algorithm, the nodes along one path are extended in the direction of the node coordinates of another path as the target direction. When the path collides with an obstacle, new node coordinates are generated using a random sampling method to bypass the obstacle. This approach enhances spatial search efficiency. For high-redundancy manipulators like the rock drilling manipulator, self-collision avoidance is a key component of collision-free path planning. This paper uses oriented bounding boxes (OBB) and capsules to envelope the manipulator's body. Potential self-collisions are detected in two stages: during the rapid detection phase, non-colliding pairs are quickly excluded, and during the precise detection phase, the distance between the remaining potential collision pairs is calculated using Euclidean distance to find the shortest distance. Finally, the self-collision detection algorithm is integrated into the v-BI-RRT algorithm. Simulations and experiments demonstrate that the algorithm responds quickly and performs well in avoiding collisions when applied to path planning for the rock drilling manipulator.

Abstract Image

基于碰撞检测的凿岩机械臂自主路径规划算法
在高冗余度机械臂领域,特别是凿岩机械臂领域,快速高效的路径规划至关重要。因此,本文提出了一种基于BI-RRT算法和定向向量方法的改进算法v-BI-RRT。在该算法中,沿一条路径的节点沿另一条路径的节点坐标方向扩展作为目标方向。当路径与障碍物发生碰撞时,采用随机抽样方法生成新的节点坐标,绕过障碍物。这种方法提高了空间搜索效率。对于凿岩机械臂等高冗余度机械臂,自避碰是实现无碰撞路径规划的关键。本文采用定向包围盒(OBB)和胶囊包覆机械臂的主体。潜在的自碰撞检测分为两个阶段:在快速检测阶段,快速排除非碰撞对;在精确检测阶段,使用欧几里得距离计算剩余潜在碰撞对之间的距离,以找到最短距离。最后,将自碰撞检测算法集成到v-BI-RRT算法中。仿真和实验表明,将该算法应用于凿岩机械臂的路径规划中,响应速度快,具有良好的避碰性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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