面向抓取任务的移动机器人停靠位置优化方法研究

doi:10.12052/gdutxb.200165

Abstract

Abstract: In order to solve the problems of low success rate and long planning time of mobile robot in complex environment, a mobile robot docking position optimization algorithm is proposed based on environment information preprocessing. Firstly, the workspace of the manipulator is analyzed, and the evaluation criteria of grasping difficulty are obtained. The positions of objects, obstacles and mobile chassis in the environment are simplified as points and projected on the xy plane. According to the evaluation criteria of grasping difficulty, the optimized chassis docking position of the mobile robot is obtained. For the obstacle avoidance problem of the manipulator, the rapidly-exploring random trees (RRT) algorithm is used to realize the robot end, connecting rod and obstacle. Finally, through the simulation and experiments in the motion capture system, it is found that using the parking position optimization algorithm of mobile robot can increase the success rate of grasping objects and the speed of grasping planning .

Key words: mobile robot, evaluation standard of grasping difficulty, docking position optimization, rapidly-exploring random trees

CLC Number:

TP242.6

Wang Dong, Huang Rui-yuan, Li Wei-zheng, Huang Zhi-feng. A Research on Docking Position Optimization Method of Mobile Robot for Grasping Task[J].Journal of Guangdong University of Technology, 2021, 38(06): 53-61.

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