Modified intelligent bidirectional random tree algorithm for planning the movement of anthropomorphic manipulators
https://doi.org/10.17586/0021-3454-2022-65-3-185-193
Abstract
An algorithm for planning the movement of a multi-link robotic system in an environment with obstacles is considered. The main requirements for this task are high performance and efficient memory usage during operation. An algorithm for path planning based on the method of a bidirectional fast-investigating random tree is presented. An approach is used which excludes addition of new vertices to the tree if their location in space can unambiguously conclude that it is inappropriate to use them in the path construction. This modification makes it possible to speed up movement planning and reduce the amount of memory needed to store the environment analysis data.
About the Authors
I. S. Dovgopolik
ITMO University
Russian Federation
Russian Federation
Ilya S. Dovgopolik — MSc; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics; Engineer.
St. Petersburg
K. Artemov
ITMO University
Russian Federation
Russian Federation
Kirill Artemov — Post-Graduate Student; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics; Engineer-Researcher.
St. Petersburg
O. I. Borisov
ITMO University
Russian Federation
Russian Federation
Oleg I. Borisov — PhD; ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics; Associate Professor.
St. Petersburg
S. Zabihifar
Sberbank
Russian Federation
Russian Federation
Seyedhassan Zabihifar — PhD; Sberbank, Robotics Laboratory; Engineer-Designer.
Moscow
A. N. Semochkin
Sberbank
Russian Federation
Russian Federation
Aleksandr N. Semochkin — PhD, Associate Professor; Sberbank, Robotics Laboratory; Сhief Engineer-Designer.
Moscow
References
1. Liu W. Mathematics and Mathematical Modelling, 2018, no. 01, pp. 15–58, DOI: 10.24108/mathm.0118.0000098.
2. LaValle S. TR 98-11, Computer Science Dept., Iowa State University, October 1998.
3. Karaman S. and Frazzoli E. The International Journal of Robotics Research, 2011, vol. 30, pp. 846–894.
4. Levin B.R. Teoreticheskiye osnovy staticheskoy radiotekhniki (Theoretical Foundations of Static Radio Engineering), Moscow, 1989, 656 р. (in Russ.)
5. Jordan M. and Perez A. Tech. Rep. MITCSAIL-TR-2013-021, Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, August 2013.
6. Qureshi A.H. and Ayaz Y. ArXiv, 2015, vol. abs/1703.08944.
7. Tahir Z., Qureshi A.H., Ayaz Y., and Nawaz R. Robotics Auton. Syst., 2018, vol. 108, pp. 13–27.
8. Gammell J., Srinivasa S., and Barfoot T. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 2997–3004.
9. Burget F., Bennewitz M., and Burgard W. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 3714–3721.
10. Kingston Z., Moll M., and Kavraki L. The International Journal of Robotics Research, 2019, vol. 38, pp. 1151–1178.
11. Hauser K. Motion and Path Planning, Berlin, Heidelberg, Springer, 2020, pp. 1–11.
Review
For citations:
Dovgopolik I.S., Artemov K., Borisov O.I., Zabihifar S., Semochkin A.N. Modified intelligent bidirectional random tree algorithm for planning the movement of anthropomorphic manipulators. Journal of Instrument Engineering. 2022;65(3):185-193. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-3-185-193
Views:
15
Email this article 