With the diversity of manipulator grasping methods and the complexity of the unstructured environment, the grasping planning of the target object is very complicated. However, the external factor for the manipulator grasping is primarily the external shape of the target object. Therefore, it is of great significance to establish a grasping system based on target shape analysis. This paper proposes a method for determining the grasping posture of manipulator based on shape analysis and force closure. The irregular or complex objects are reduced to a combination of some basic shapes. The 3D data points of the object are split into blocks and each part is fitted to sphere, cylinder or rectangle by a best-fit algorithm. This allows the grasping posture of the manipulator to be determined quickly. The grasping characteristics of the object are analyzed and the grasping surface is described qualitatively by means of a superellipse. The grasping of objects is simplified according to the stable grasping condition of force closure. The force spiral space for grasping defines the grasping quality of the manipulator. The best grasping posture is obtained by evaluating the indicators. This method eliminates complex training processes, reduces the complexity of robotic grasping and highly universal.

Grasping posture of humanoid manipulator based on target shape analysis and force closure

With the diversity of manipulator grasping methods and the complexity of the unstructured environment, the grasping planning of the target object is very complicated. However, the external factor for the manipulator grasping is primarily the external shape of the target object. Therefore, it is of great significance to establish a grasping system based on target shape analysis. This paper proposes a method for determining the grasping posture of manipulator based on shape analysis and force closure. The irregular or complex objects are reduced to a combination of some basic shapes. The 3D data points of the object are split into blocks and each part is fitted to sphere, cylinder or rectangle by a best-fit algorithm. This allows the grasping posture of the manipulator to be determined quickly. The grasping characteristics of the object are analyzed and the grasping surface is described qualitatively by means of a superellipse. The grasping of objects is simplified according to the stable grasping condition of force closure. The force spiral space for grasping defines the grasping quality of the manipulator. The best grasping posture is obtained by evaluating the indicators. This method eliminates complex training processes, reduces the complexity of robotic grasping and highly universal. 

Flying safely in complex urban environments is a challenge for unmanned aerial vehicles because path planning in urban environments with many narrow passages and few dynamic flight obstacles is difficult. The path planning problem is decomposed into global path planning and local path adjustment in this paper. First, a branch-selected rapidly-exploring random tree (BS-RRT) algorithm is proposed to solve the global path planning problem in environments with narrow passages. A cyclic pruning algorithm is proposed to shorten the length of the planned path. Second, the GM(1,1) model is improved with optimized background value named RMGM(1,1) to predict the flight path of dynamic obstacles. Herein, the local path adjustment is made by analyzing the prediction results. BS-RRT demonstrated a faster convergence speed and higher stability in narrow passage environments when compared with RRT, RRT-Connect, P-RRT, 1-0 Bg-RRT, and RRT*. In addition, the path planned by BS-RRT through the use of the cyclic pruning algorithm was the shortest. The prediction error of RMGM(1,1) was compared with those of ECGM(1,1), PCGM(1,1), GM(1,1), MGM(1,1), and GDF. The trajectory predicted by RMGM(1,1) was closer to the actual trajectory. Finally, we use the two methods to realize path planning in urban environments.

Complex Environment Path Planning for Unmanned Aerial Vehicles.

Different driving styles should be considered in path planning for autonomous vehicles that are travelling alongside other traditional vehicles in the same traffic scene. Based on the drivers’ characteristics and artificial potential field (APF), an improved local path planning algorithm is proposed in this paper. A large amount of driver data are collected through tests and classified by the K-means algorithm. A Keras neural network model is trained by using the above data. APF is combined with driver characteristic identification. The distances between the vehicle and obstacle are normalized. The repulsive potential field functions are designed according to different driver characteristics and road boundaries. The designed local path planning method can adapt to different surrounding manual driving vehicles. The proposed human-like decision path planning method is compared with the traditional APF planning method. Simulation tests of an individual driver and various drivers with different characteristics in overtaking scenes are carried out. The simulation results show that the curves of human-like decision-making path planning method are more reasonable than those of the traditional APF path planning method; the proposed method can carry out more effective path planning for autonomous vehicles according to the different driving styles of surrounding manual vehicles.

https://www.mdpi.com/2076-0825/11/2/52/pdf?version=1645005361

Autonomous Vehicle Path Planning Based on Driver Characteristics Identification and Improved Artificial Potential Field

The existing variants of the rapidly exploring random tree (RRT) cannot be effectively applied in local path planning of the autonomous vehicle and solve the coherence problem of paths between the front and back frames. Thus, an improved heuristic Bi-RRT algorithm is proposed, which is suitable for obstacle avoidance of the vehicle in an unknown dynamic environment. The vehicle constraint considering the driver’s driving habit and the obstacle-free direct connection mode of two random trees are introduced. Multi-sampling biased towards the target state reduces invalid searches, and parent node selection with the comprehensive measurement index accelerates the algorithm’s execution while making the initial path gentle. The adaptive greedy step size, introducing the target direction, expands the node more effectively. Moreover, path reorganization minimizes redundant path points and makes the path’s curvature continuous, and path coherence makes paths between the frames connect smoothly. Simulation analysis clarifies the efficient performance of the proposed algorithm, which can generate the smoothest path within the shortest time compared with the other four algorithms. Furthermore, the experiments on dynamic environments further show that the proposed algorithm can generate a differentiable coherence path, ensuring the ride comfort and stability of the vehicle.

/pdf/local-path-planning-of-autonomous-vehicle-based-on-an-21ny85l7.pdf

Local Path Planning of Autonomous Vehicle Based on an Improved Heuristic Bi-RRT Algorithm in Dynamic Obstacle Avoidance Environment

A 1–0 Bg-RRT algorithm is proposed to reduce computational time and complexity, even in complex environments. Different from Rapidly-exploring Random Tree (RRT) and Bias-goal Rapidly-exploring Random Tree (Bg-RRT), using 1–0 Bg-RRT with 1 and 0 change probability biased to the target to construct the tree is faster and can jump out of the local minimum in time. Although unknown space path planning problem based on RRT is difficult to obtain satisfactory performance, but the improved algorithm provides a more superior compared with the basic RRT algorithm and Bg-RRT algorithm. The simulation results show that the 1–0 Bg-RRT algorithm has shorter computational time and shorter path than the traditional RRT algorithm.

Research on Robot Motion Planning Based on RRT Algorithm with Nonholonomic Constraints

The invention relates to a double-rod connection triangular supporting platform for a noise measuring device. The double-rod connection triangular supporting platform comprises a triangular bracket, supporting rods, connection structures, corner connection structures and rigidity connection structures. The triangular bracket is formed by assembling three double-rod combined frames; the double-rodcombined frames comprise double-rod sets and the connection structures; the double-rod sets are connected into a whole through the multiple connection structures; the double-rod combined frames are connected into a whole through the corner connection structures; the supporting rods are connected to the corner connection structures through adjusting bolts and connection shafts; balance and height adjustment of the supporting platform are achieved by adjusting the adjusting bolts. The supporting platform is composed of double-rods and connection pieces, force is borne by the two rods on each side jointly, and the double-rod connection triangular supporting platform has the characteristics that adjustability and detachability are achieved, the structure is more stable, the rigidity and strength are improved greatly, and falling-off, fracturing and deforming of the double-rod connection triangular supporting platform are not likely to occur during force bearing.

Chao Ke

Papers

Research on Robot Motion Planning Based on RRT Algorithm with Nonholonomic Constraints

Double-rod connection triangular supporting platform for noise measuring device