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A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators | |
Mingrui, Luo; Yunong, Tian; En, Li; Minghao, Chen; Min, Tan | |
发表期刊 | IEEE Transactions on Industrial Informatics |
ISSN | 1551-3203 |
2024-06 | |
卷号 | 20期号:4页码:6591 - 6602 |
文章类型 | Research Article |
摘要 | Cable-driven hyper-redundant manipulators (CDHRMs) enable unique tasks in confined spaces while presenting challenges for collision-free path planning. This article introduces a novel planning method called the stepwise follow-the-leader (SFTL) algorithm. SFTL consists of a local planner and a global planner. The local planner utilizes reinforcement learning to obtain a collision-free policy, optimizing target error, path length, angle fluctuation, and TE. The global planner incorporates an observation tree and reachability estimator to dynamically optimize extended path nodes for the local planner. The proposed sliding control points algorithm enables sequential movement along the planned path. The SFTL algorithm is applied to a coiled CDHRM and validated through simulations and practical experiments. Results show an average success rate of over 96% in various scenes, maintaining appropriate joint angles and cable tension. SFTL generates sensor-informed feasible paths, providing a robust planning framework for industrial CDHRM applications. |
关键词 | Cable-driven redundant manipulators intelligent robot system obstacle avoidance path planning |
学科门类 | 工学::控制科学与工程 |
DOI | 10.1109/TII.2023.3346993 |
收录类别 | SCI |
七大方向——子方向分类 | 机器人感知与决策 |
国重实验室规划方向分类 | 高通过性仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57071 |
专题 | 中国科学院工业视觉智能装备工程实验室 |
通讯作者 | En, Li |
作者单位 | the Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Mingrui, Luo,Yunong, Tian,En, Li,et al. A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators[J]. IEEE Transactions on Industrial Informatics,2024,20(4):6591 - 6602. |
APA | Mingrui, Luo,Yunong, Tian,En, Li,Minghao, Chen,&Min, Tan.(2024).A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators.IEEE Transactions on Industrial Informatics,20(4),6591 - 6602. |
MLA | Mingrui, Luo,et al."A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators".IEEE Transactions on Industrial Informatics 20.4(2024):6591 - 6602. |
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二作论文6-罗明睿:A Local Ob(16892KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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