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在综合分析路径规划研究的基础上,采用基于概率地图的路径规划方法,运用启发式搜索算法对水果收获机器人机械臂运动路径进行实时规划。在搜索过程中,以位姿点密度作为权重使路径向自由空间扩散,避免过度采样。为提高路径规划速度,采用延迟碰撞检测策略,可有效降低计算量。采用有向包围盒进行碰撞检测。最后利用虚拟现实技术,对水果收获时要绕过的支架和狭窄区域进行三维计算机模拟。结果显示,路径规划时间均小于0.15s,达到实时要求。
Based on the comprehensive analysis of path planning research, a path planning method based on probability map is used to heuristic robotics robotic arm real-time path planning using heuristic search algorithm. In the search process, the position of the point density as the weight of the path to the proliferation of free space to avoid over-sampling. To improve the speed of path planning, a delayed collision detection strategy can be used to reduce the computational cost effectively. Bounding box with a directional collision detection. Finally, using virtual reality technology, the three-dimensional computer simulation of the stent and the narrow area to be bypassed during fruit harvesting is performed. The results show that the path planning time are less than 0.15s, to achieve real-time requirements.