机器人C-空间障碍边界建模与无碰路径规划

ROBOT COBSTACLE BOUNDARY MODELING AND COLLISIONFREE PATH PLANNING

基于机器人与障碍实体的实际碰撞关系，通过对Ｃ－空间障碍的特性分析，定义了临界碰撞关节角，提出了基于临界碰撞关节角的Ｃ－空间障碍边界建模方法．该方法计算量小，可直接同机器人动态仿真模型相联，便于系统集成．路径搜索利用改进的Ａ＊算法，采用动态变步长并进行目标可见性测试，提高了搜索效率，并利用全局路径优化算法对路径进行了优化．仿真结果表明本文提出的算法对静态结构化环境下机器人操作机的路径规划是切实有效的．

In the view of actual collision between manipulators and obstacles and Cobstacle feature, the critical collision joint angle(CCJA) is defined in this paper, followed by a Cobstacle boundary modeling method based on CCJA. This algorithm has less computation and can be integrated with the robot dynamic simulation conveniently. A modified A* algorithm is employed for path search, which has dynamic changeable steps and a goalvisibility test, and has a rapid search speed, a global path optimal algorithm is used to get optimal paths. The simulation results show that the algorithms presented here are practical and efficient for path planning of manipulators in structured and static environment.