What algorithm to use for collision avoidance of a robot?

조회 수: 10 (최근 30일)
Farzad Torabi
Farzad Torabi 2022년 11월 9일
댓글: Sam Chak 2022년 11월 9일
Hi all
For a robotic arm, to "Back up" when a human approaches it, what algorithm should I use? RRT seems to go around the object, but I need the backing up. How do I do that?

채택된 답변

Sam Chak
Sam Chak 2022년 11월 9일
I'm unsure. Maybe you intend to tell the robot to "back down" or retract the arm?
Conventionally, RRT is an "offline" path-finding algorithm that falls under the motion planning category. It does not intelligently tell the robot to avoid the obstacle that suddenly pops up in front of them.
What the robot needs in such situation is a reactive algorithm.
Generally in the collision avoidance algorithm, you should do a collision velocity check and identify a reasonable warning distance threshold.
  댓글 수: 4
Bruno Luong
Bruno Luong 2022년 11월 9일
편집: Bruno Luong 2022년 11월 9일
Or for real implementation in these videos https://www.fogale-robotics.com/
You need foremost a sensor. The avoidance algorithm is easy I do it without any toolbox.
Sam Chak
Sam Chak 2022년 11월 9일
@Farzad Torabi, I have not used the functions from the Robotics System Toolbox.
From the description, the function can check whether each pose of the robotic arm is in collision with the 'static' obstacles in the environment.
The function is helpful for the robotic arm to navigate if the obstacles in the environment are known before the path planning task is carried out.
You don't have to think some complex algorithms to retract the arm. You just need the Arm to 'Sense' the presence of human (obstacle) in the immediate vicinity, then 'Think' where to retract the Arm (in the pre-trained trajectories) and verify that the selected one is collision-free, and finally 'Act' to move the joints to produce the collision-free poses.
@Bruno Luong, By the way, the FOGALE technology looks really 'smart and cool'. Thanks for showing that.

댓글을 달려면 로그인하십시오.

추가 답변 (0개)


Help CenterFile Exchange에서 Robotics에 대해 자세히 알아보기




Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by