Title:
DUAL NEURAL NETWORK SOLUTION METHOD FOR EXTENDED SOLUTION SET FOR ROBOT MOTION PLANNING
Document Type and Number:
WIPO Patent Application WO/2019/100891
Kind Code:
A1
Abstract:
Provided is a dual neural network solution method for an extended solution set for robot motion planning, the method comprising the steps of: acquiring a current state of a robot via a sensor, and carrying out inverse kinematics analysis on a robot trajectory at a speed layer by using a quadratic optimization scheme; converting a quadratic optimization scheme of a minimum speed two-norm index into a standard quadratic planning problem; converting the quadratic planning problem into a solution of a Karush-Kuhn-Tucker optimality condition; utilizing a dual neural network solver of an extended solution set for solving; and transferring a result obtained by means of solving to a robot controller, and driving a robot body to carry out trajectory tracking. By means of designing a non-linear equality constraint in the method, a convex set constraint and a non-convex set constraint can be compatible, an initial error problem occurring in robot control can be eliminated, and an error accumulation problem in a robot control process can be overcome.
Inventors:
ZHANG ZHIJUN (CN)
CHEN SIYUAN (CN)
CHEN SIYUAN (CN)
Application Number:
PCT/CN2018/111622
Publication Date:
May 31, 2019
Filing Date:
October 24, 2018
Export Citation:
Assignee:
UNIV SOUTH CHINA TECH (CN)
International Classes:
B25J9/16
Foreign References:
| CN108015765A | 2018-05-11 | |||
| CN106426164A | 2017-02-22 | |||
| CN102126219A | 2011-07-20 | |||
| CN105538327A | 2016-05-04 | |||
| CN101804627A | 2010-08-18 | |||
| US20150355647A1 | 2015-12-10 |
Attorney, Agent or Firm:
GUANGZHOU HUAXUE INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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