On Joint Obstacle Avoidance Based on Artificial Potential Field for Duct Cleaning Robot
Ouyang Minghua, Wei Jie Sun, Shengnan Liu, Yang Pengfei · International Conference on Electric Information and Control Engineering · 2012
Duct cleaning robot is a kind of mobile manipulator working in abominable environment with complicated spatial disorder to clean the inner wall of central air-conditioning ventilation pipe. The coordinate movement of chassis and sweeping mechanism are crucial for the realization of its 3D non-repeating touch and optimal traversal cleaning with high-speed rotating brush. In the light of these characteristics, considering the requirements of joint obstacle avoidance and referring to the artificial potential field method, a chassis and manipulator joint obstacle avoidance path planning method for local travel is proposed. The mobile chassis tracks target position actively based on the projection of the resultant force in the chassis plane. As to the manipulator arm, the repulsion forces of obstacles are mapped to each joint motion plane, they are then, according to certain rules, converted into joint control variable, according to which the manipulator arm avoid obstacles automatically. Simulation experiment is conducted to verify the method.