安全第一アルボリズムとポテンシャル関数に基づくマニピュレータの障害物回避法

概要

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In this paper, a collision avoidance method for robot manipulators is proposed. First, the potential function for avoiding obstacles is defined in the way that its value should be always null on the middle planes among obstacles. Next, the candidate graph of desired trajectory of end-effector is asked on such planes. We call it'Safety First Graph'. The path on this graph is determined by the A algorithm. By the proposed method, the interference between the potential field for avoiding obstacles and that for approaching the end-effector to the destination position becomes very small. Therefore, the failure of search for a solution, due to the deadlock or the collision with obstacles, could be reduced in most cases. Moreover, re-searching the solution becomes possible based on the global desired trajectory. The method can be applied to general manipulators without paying attention to their kinematic features, and imposes no restriction on the motions. The effectiveness of the method has been verified by simulation studies.
一般社団法人日本ロボット学会の論文