A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators
Joint Authors
Li, Ge
Zhao, Jie
Zhu, Yanhe
Jin, Hongzhe
Zhang, Hui
Liu, Zhangxing
Yang, Decai
Bie, Dongyang
Zhang, He
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-04-30
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators.
By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future.
Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion.
The shortest one among these feasible paths is selected as the optimized path.
Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time.
To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path.
In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively.
Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method.
Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.
American Psychological Association (APA)
Jin, Hongzhe& Zhang, Hui& Liu, Zhangxing& Yang, Decai& Bie, Dongyang& Zhang, He…[et al.]. 2017. A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1191758
Modern Language Association (MLA)
Jin, Hongzhe…[et al.]. A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators. Mathematical Problems in Engineering No. 2017 (2017), pp.1-15.
https://search.emarefa.net/detail/BIM-1191758
American Medical Association (AMA)
Jin, Hongzhe& Zhang, Hui& Liu, Zhangxing& Yang, Decai& Bie, Dongyang& Zhang, He…[et al.]. A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-15.
https://search.emarefa.net/detail/BIM-1191758
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191758