CREATING AN INITIAL REFERENCE TO OPTIMIZE THE MOVEMENT PLANNING OF ROBOTS

摘要

An optimization method for the motion planning of robots using a refined initial reference distance. If a new route is to be calculated by means of motion optimization, a starting reference route is selected from a storage that was previously calculated and has similar starting and destination points as well as environmental restrictions for collision avoidance to the new route. The starting reference route is adjusted at all state points along its length in order to take into account the difference between the start and destination points of the new route compared to those of the previously calculated route and to generate the initial reference route. The initial reference route, adapted to match the starting and destination points, is then used as a starting state for the optimization calculation of the movement. Using an initial reference route that is similar to the final approximated new route, the optimization calculation approaches more quickly than if a non-critical initial reference route is used.