Topology-preserved distorted space path planning

PurposeFast obstacle avoidance path planning is a challenging task for multijoint robots navigating through cluttered workspaces. This paper aims to address this issue by proposing an improved path-planning method based on the distorted space (DS) method, specifically designed for high-dimensional c...

Full description

Saved in:
Bibliographic Details
Published in:Industrial robot 2024-12, Vol.51 (6), p.973-984
Main Authors: Xie, Yangmin, Yang, Qiaoni, Zhou, Rui, Cao, Zhiyan, Shi, Hang
Format: Article
Language:English
Subjects:
Algorithms
Collision avoidance
Configuration space path planning
Deformation effects
Efficiency
Elastic deformation
Elastic limit
Elastic properties
Methods
Obstacle avoidance
Robots
Spring constant
Task complexity
Topology
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:PurposeFast obstacle avoidance path planning is a challenging task for multijoint robots navigating through cluttered workspaces. This paper aims to address this issue by proposing an improved path-planning method based on the distorted space (DS) method, specifically designed for high-dimensional complex environments.Design/methodology/approachThe proposed method, termed topology-preserved distorted space (TP-DS) method, mitigates the limitations of the original DS method by preserving space topology through elastic deformation. By applying distinct spring constants, the TP-DS autonomously shrinks obstacles to microscopic areas within the configuration space, maintaining consistent topology. This enhancement extends the application scope of the DS method to handle complex environments effectively.FindingsComparative analysis demonstrates that the proposed TP-DS method outperforms traditional methods regarding planning efficiency. Successful obstacle avoidance tasks in the cluttered workspace validate its applicability on a physical 6-DOF manipulator, highlighting its potential for industrial implementations.Originality/valueThe novel TP-DS method generates a topology-preserved collision-free space by leveraging elastic deformation and shows significant capability and efficiency in planning obstacle-avoidance paths in complex application scenarios.
ISSN:0143-991X
0143-991X
1758-5791
DOI:10.1108/IR-02-2024-0049