Research on Dynamic Obstacle Avoidance Method of Manipulator Based on Binocular Vision

Title:Research on Dynamic Obstacle Avoidance Method of Manipulator Based on Binocular Vision

Volume: 16 Issue: 6

Author(s): Hongxin Zhang*, Jiaming Li, Rongzijun Shu, Hongyu Wang and Guangsen Li

Affiliation:

• Robotics & its Engineering Research Center, Harbin University of Science and Technology, No. 52 Xuefu Road, Nangang District, Harbin, 150080, Heilongjiang, 15704604594, P.R. China

Keywords: Binocular vision, path planning, robot arm, artificial potential field method, moving target detection, moving target tracking.

Abstract:

Background: With the development of robotics, more and more robots are being used in industrial production. However, as the production environment surrounding the robots becomes increasingly complex, there is a need for more intelligent industrial robots. For improving the intelligence of industrial robots, the most important thing is to ensure that they can carry out safe industrial production activities in a complex production environment. Therefore, studying the autonomous dynamic obstacle avoidance path planning of industrial robots in complex environments is of great significance for improving the intelligence of industrial robots and the application of human-machine collaboration.

Objective: The main purpose of this paper is to improve the traditional artificial potential field method. It aims to improve the disadvantages of the traditional artificial potential field method, such as falling into the local minimum and failing to reach the target. Secondly, the background difference method, which is based on binocular vision and Kalman filtering algorithm, is used, and the environmental map containing the static and dynamic obstacles is obtained. After obtaining the information on the position of static and dynamic obstacles, the robot arm can make good use of the improved artificial potential field method to plan its own trajectory, thus realizing the dynamic obstacle avoidance of the robot arm in a complex environment.

Methods: This paper proposes an improved artificial potential field method. First of all, in order to solve the problem of not being able to achieve the goal, the method of modifying the repulsion field function, as proposed by Wang Huili and others, has been cited. In the traditional repulsion function, the relative distance between the robot and the target is introduced. Due to this, the target point is always the minimum point of the potential field. It is necessary to ensure that the robot can reach the target position smoothly. For the local minimum problem, by adding a gravitational increase factor β, the gravitational force received is greater than the repulsive force, thereby breaking the balance of the resultant force. Finally, for the traditional artificial potential field method that does not consider the path planning problem in the presence of dynamic obstacles, the velocity vector of the dynamic obstacle is brought into the potential field function to improve the traditional artificial potential field method.

Results: The robot easily falls into the local optimum during path planning, and the improved artificial potential field method overcomes this shortcoming. Therefore, the manipulator can perform autonomous dynamic obstacle avoidance path planning in an environment with dynamic obstacles, finally reaching the target point safely.

Conclusion: The industrial production field faces an increasing demand for intelligent industrial robots. This paper improves on the traditional artificial potential field method based on binocular vision so that the mechanical arm can avoid dynamic obstacles autonomously in the presence of dynamic obstacles, thereby improving the degree of intelligence of the robotic arm, enabling the technology to meet the needs of future industrial development and contribute to the development of future industrial robot technology.

Cite this article as:

Zhang Hongxin *, Li Jiaming , Shu Rongzijun , Wang Hongyu and Li Guangsen, Research on Dynamic Obstacle Avoidance Method of Manipulator Based on Binocular Vision, Recent Patents on Engineering 2022; 16 (6) : e201221199157 . https://dx.doi.org/10.2174/1872212116666211220114031