A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators

摘要

Avoiding obstacle(s) is a challenging issue in the research of redundant robot manipulators. In addition, noise from truncation, rounding, and model uncertainty is an important factor that affects greatly the obstacle avoidance scheme. In this paper, based on the neural dynamics design formula, a new scheme with the pseudoinverse-type formulation is proposed for obstacle avoidance of redundant robot manipulators in a noisy environment. Such a scheme has the capability of suppressing constant and bounded time-varying noises, and it is thus termed as the noise-tolerant obstacle avoidance (NTOA) scheme in this paper. Theoretical results are also given to show the excellent property of the proposed NTOA scheme (particularly in noise situation). Based on a PA10 robot manipulator with point and window-shaped obstacles, computer simulation results are presented to further substantiate the efficacy and superiority of the proposed NTOA scheme for motion planning of redundant robot manipulators.