密闭多障碍物环境中的多节连续机器人路径规划算法研究

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-16 DOI:10.1017/s0263574724001383
Guohua Gao, Dongjian Li, Kai Liu, Yuxin Ge, Chunxu Song
{"title":"密闭多障碍物环境中的多节连续机器人路径规划算法研究","authors":"Guohua Gao, Dongjian Li, Kai Liu, Yuxin Ge, Chunxu Song","doi":"10.1017/s0263574724001383","DOIUrl":null,"url":null,"abstract":"<p>In confined multi-obstacle environments, generating feasible paths for continuum robots is challenging due to the need to avoid obstacles while considering the kinematic limitations of the robot. This paper deals with the path-planning algorithm for continuum robots in confined multi-obstacle environments to prevent their over-deformation. By modifying the tree expansion process of the Rapidly-exploring Random Tree Star (RRT<span>*</span>) algorithm, a path-planning algorithm called the continuum-RRT<span>*</span> algorithm herein is proposed to achieve fewer iterations and faster convergence as well as generating desired paths that adhere to the kinematic limitations of the continuum robots. Then path planning and path tracking are implemented on a tendon-driven four-section continuum robot to validate the effectiveness of the path-planning algorithm. The path-planning results show that the path generated by the algorithm indeed has fewer transitions, and the path generated by the algorithm is closer to the optimal path that satisfies the kinematic limitations of the continuum robot. Furthermore, path-tracking experiments validate the successful navigation of the continuum robot along the algorithm-generated path, exhibiting an error range of 2.51%–3.91%. This attests to the effectiveness of the proposed algorithm in meeting the navigation requirements of continuum robots.</p>","PeriodicalId":49593,"journal":{"name":"Robotica","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A study on path-planning algorithm for a multi-section continuum robot in confined multi-obstacle environments\",\"authors\":\"Guohua Gao, Dongjian Li, Kai Liu, Yuxin Ge, Chunxu Song\",\"doi\":\"10.1017/s0263574724001383\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>In confined multi-obstacle environments, generating feasible paths for continuum robots is challenging due to the need to avoid obstacles while considering the kinematic limitations of the robot. This paper deals with the path-planning algorithm for continuum robots in confined multi-obstacle environments to prevent their over-deformation. By modifying the tree expansion process of the Rapidly-exploring Random Tree Star (RRT<span>*</span>) algorithm, a path-planning algorithm called the continuum-RRT<span>*</span> algorithm herein is proposed to achieve fewer iterations and faster convergence as well as generating desired paths that adhere to the kinematic limitations of the continuum robots. Then path planning and path tracking are implemented on a tendon-driven four-section continuum robot to validate the effectiveness of the path-planning algorithm. The path-planning results show that the path generated by the algorithm indeed has fewer transitions, and the path generated by the algorithm is closer to the optimal path that satisfies the kinematic limitations of the continuum robot. Furthermore, path-tracking experiments validate the successful navigation of the continuum robot along the algorithm-generated path, exhibiting an error range of 2.51%–3.91%. This attests to the effectiveness of the proposed algorithm in meeting the navigation requirements of continuum robots.</p>\",\"PeriodicalId\":49593,\"journal\":{\"name\":\"Robotica\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2024-09-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Robotica\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1017/s0263574724001383\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotica","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1017/s0263574724001383","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

在狭窄的多障碍物环境中,由于需要避开障碍物,同时考虑到机器人运动学上的限制,为连续机器人生成可行路径具有挑战性。本文探讨了在狭窄多障碍物环境中防止连续机器人过度变形的路径规划算法。通过修改快速探索随机树星(RRT*)算法的树扩展过程,本文提出了一种称为连续-RRT*算法的路径规划算法,以实现更少的迭代次数和更快的收敛速度,并生成符合连续机器人运动学限制的理想路径。然后,在一个由肌腱驱动的四节连续机器人上实现了路径规划和路径跟踪,以验证路径规划算法的有效性。路径规划结果表明,算法生成的路径确实具有较少的过渡,而且算法生成的路径更接近满足连续机器人运动限制的最优路径。此外,路径跟踪实验验证了连续机器人沿着算法生成的路径成功导航,误差范围为 2.51%-3.91%。这证明了所提出的算法在满足连续机器人导航要求方面的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
A study on path-planning algorithm for a multi-section continuum robot in confined multi-obstacle environments

In confined multi-obstacle environments, generating feasible paths for continuum robots is challenging due to the need to avoid obstacles while considering the kinematic limitations of the robot. This paper deals with the path-planning algorithm for continuum robots in confined multi-obstacle environments to prevent their over-deformation. By modifying the tree expansion process of the Rapidly-exploring Random Tree Star (RRT*) algorithm, a path-planning algorithm called the continuum-RRT* algorithm herein is proposed to achieve fewer iterations and faster convergence as well as generating desired paths that adhere to the kinematic limitations of the continuum robots. Then path planning and path tracking are implemented on a tendon-driven four-section continuum robot to validate the effectiveness of the path-planning algorithm. The path-planning results show that the path generated by the algorithm indeed has fewer transitions, and the path generated by the algorithm is closer to the optimal path that satisfies the kinematic limitations of the continuum robot. Furthermore, path-tracking experiments validate the successful navigation of the continuum robot along the algorithm-generated path, exhibiting an error range of 2.51%–3.91%. This attests to the effectiveness of the proposed algorithm in meeting the navigation requirements of continuum robots.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
期刊最新文献
3D dynamics and control of a snake robot in uncertain underwater environment An application of natural matrices to the dynamic balance problem of planar parallel manipulators Control of stance-leg motion and zero-moment point for achieving perfect upright stationary state of rimless wheel type walker with parallel linkage legs Trajectory tracking control of a mobile robot using fuzzy logic controller with optimal parameters High accuracy hybrid kinematic modeling for serial robotic manipulators
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1