Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base locat...Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.展开更多
Sampling-based planning algorithms play an important role in high degree-of-freedom motion planning(MP)problems,in which rapidly-exploring random tree(RRT)and the faster bidirectional RRT(named RRT-Connect)algorithms ...Sampling-based planning algorithms play an important role in high degree-of-freedom motion planning(MP)problems,in which rapidly-exploring random tree(RRT)and the faster bidirectional RRT(named RRT-Connect)algorithms have achieved good results in many planning tasks.However,sampling-based methods have the inherent defect of having difficultly in solving planning problems with narrow passages.Therefore,several algorithms have been proposed to overcome these drawbacks.As one of the improved algorithms,Rapidlyexploring random vines(RRV)can achieve better results,but it may perform worse in cluttered environments and has a certain environmental selectivity.In this paper,we present a new improved planning method based on RRT-Connect and RRV,named adaptive RRT-Connect(ARRT-Connect),which deals well with the narrow passage environments while retaining the ability of RRT algorithms to plan paths in other environments.The proposed planner is shown to be adaptable to a variety of environments and can accomplish path planning in a short time.展开更多
A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit ...A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit workers to complete manual operations. Artificial intelligence and robotics, which are rapidly evolving, offer potential solutions to this problem. In this paper, a navigation method dedicated to solving the issues of the inability to pass smoothly at corners in practice and local obstacle avoidance is presented. In the system, a Gaussian fitting smoothing rapid exploration random tree star-smart(GFS RRT^(*)-Smart) algorithm is proposed for global path planning and enhances the performance when the robot makes a sharp turn around corners. In local obstacle avoidance, a deep reinforcement learning determiner mixed actor critic(MAC) algorithm is used for obstacle avoidance decisions. The navigation system is implemented in a scaled-down simulation factory.展开更多
基金Supported by the National Science and Technology Support Program of China(No.2013BAK03B01)
文摘Due to the interrelationship between the base placement of the manipulator and its operation object,it is significant to analyze the accessibility and workspace of manipulators for the optimization of their base location.A new method is presented to optimize the base placement of manipulators through motion planning optimization and location optimization in the feasible area for manipulators.Firstly,research problems and contents are outlined.And then the feasible area for the manipulator base installation is discussed.Next,index depended on the joint movements and used to evaluate the kinematic performance of manipulators is defined.Although the mentioned indices in last section are regarded as the cost function of the latter,rapidly-exploring random tree(RRT) and rapidly-exploring random tree*(RRT*) algorithms are analyzed.And then,the proposed optimization method of manipulator base placement is studied by means of simulation research based on kinematic performance criteria.Finally,the conclusions could be proved effective from the simulation results.
基金supported in part by the National Science Foundation of China(61976175,91648208)the Key Project of Natural Science Basic Research Plan in Shaanxi Province of China(2019JZ-05)。
文摘Sampling-based planning algorithms play an important role in high degree-of-freedom motion planning(MP)problems,in which rapidly-exploring random tree(RRT)and the faster bidirectional RRT(named RRT-Connect)algorithms have achieved good results in many planning tasks.However,sampling-based methods have the inherent defect of having difficultly in solving planning problems with narrow passages.Therefore,several algorithms have been proposed to overcome these drawbacks.As one of the improved algorithms,Rapidlyexploring random vines(RRV)can achieve better results,but it may perform worse in cluttered environments and has a certain environmental selectivity.In this paper,we present a new improved planning method based on RRT-Connect and RRV,named adaptive RRT-Connect(ARRT-Connect),which deals well with the narrow passage environments while retaining the ability of RRT algorithms to plan paths in other environments.The proposed planner is shown to be adaptable to a variety of environments and can accomplish path planning in a short time.
基金National Natural Science Foundation of China (No.61903078)。
文摘A large number of logistics operations are needed to transport fabric rolls and dye barrels to different positions in printing and dyeing plants, and increasing labor cost is making it difficult for plants to recruit workers to complete manual operations. Artificial intelligence and robotics, which are rapidly evolving, offer potential solutions to this problem. In this paper, a navigation method dedicated to solving the issues of the inability to pass smoothly at corners in practice and local obstacle avoidance is presented. In the system, a Gaussian fitting smoothing rapid exploration random tree star-smart(GFS RRT^(*)-Smart) algorithm is proposed for global path planning and enhances the performance when the robot makes a sharp turn around corners. In local obstacle avoidance, a deep reinforcement learning determiner mixed actor critic(MAC) algorithm is used for obstacle avoidance decisions. The navigation system is implemented in a scaled-down simulation factory.
