Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

作     者：Li Chen Ying Ma Yu Zhang Jinguo Liu Li Chen;Ying Ma;Yu Zhang;Jinguo Liu

作者机构：School of Air TransportationShanghai University of Engineering ScienceShanghai 201620China State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China School of Aeronautics and AstronauticsShanghai Jiao Tong UniversityShanghai 200240China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2020年第33卷第5期

页      面：101-119页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China(Grant No.61733017) Foundation of State Key Laboratory of Robotics of China(Grant No.2018O13) Shanghai Pujiang Program of China(Grant No.18PJD018) 

主　　题：Super redundant manipulator Multi target tracking Follow-the-leader Obstacle avoidance Bezier curve PSO 

摘      要：A super redundant serpentine manipulator has slender structure and multiple degrees of *** can travel through narrow spaces and move in complex *** manipulator is composed of many modules that can form different lengths of robot arms for different application *** increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint *** paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant *** this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader *** relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth *** results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint *** proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.