论文标题
通过B-Splines进行多连接机器人系统的连续轨迹优化
Continuous Trajectory Optimization via B-splines for Multi-jointed Robotic Systems
论文作者
论文摘要
轨迹计划问题的连续表述具有两个主要好处。首先，保证始终满足约束。其次，随着时间的推移可以自然考虑动态障碍。本文介绍了一种基于B-Spline的新型轨迹优化方法，用于多连接机器人，该方法提供了具有保证连续约束满意度的连续轨迹。在此方法的核心上，B-Spline基本操作（如加法，乘法和衍生物）被严格定义并应用于问题制定。 B-Spline独特特性（例如凸壳和平滑曲线属性）被用来将原始连续优化问题重新制定为有限维问题。使用符号距离场实现了与静态障碍物的碰撞，而动态障碍物的碰撞是通过构造随着时间变化的分离超平面而实现的。各种机器人的仿真结果验证了算法的有效性。此外，本文提供了避免静态和移动障碍物的6链接FANUC机器人提供实验验证。
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel B-spline based trajectory optimization method for multi-jointed robots that provides a continuous trajectory with guaranteed continuous constraints satisfaction. At the core of this method, B-spline basic operations, like addition, multiplication, and derivative, are rigorously defined and applied for problem formulation. B-spline unique characteristics, such as the convex hull and smooth curves properties, are utilized to reformulate the original continuous optimization problem into a finite-dimensional problem. Collision avoidance with static obstacles is achieved using the signed distance field, while that with dynamic obstacles is accomplished via constructing time-varying separating hyperplanes. Simulation results on various robots validate the effectiveness of the algorithm. In addition, this paper provides experimental validations with a 6-link FANUC robot avoiding static and moving obstacles.
