Visual Robot Obstacle Avoidance Planning and Simulation Using Mapped Point Clouds

doi:10.16182/j.issn1004731x.joss.23-0618

Abstract

Abstract:

In response to the large and complex data volume and high redundancy of visual point cloud obstacle recognition in complex unstructured orchard environments, which severely impacts the real-time performance and efficiency of harvesting operations, a point cloud compression algorithm is proposed based on point cloud segmentation to enhance the efficiency of point cloud obstacle recognition and environmental adaptability. An Informed RRT* based approach is used combined with an inverse projection algorithm, mapping-based informed RRT*(M-Informed RRT*) to solve the harvesting path problem. By constructing a highly real-time and robust integrated robot system for sampling, perception, and obstacle avoidance, efficient obstacle recognition and path planning are achieved. Experimental data from ROS based picking robots demonstrates the feasibility of this algorithm and significantly improves the efficiency of harvesting operations.

Key words: binocular vision, path planning, point cloud segmentation, ROS simulation, picking obstacle avoidance

CLC Number:

TP249

Huo Hanlin, Zou Xiangjun, Chen Yan, Zhou Xinzhao, Chen Mingyou, Li Chengen, Pan Yaoqiang, Tang Yunchao. Visual Robot Obstacle Avoidance Planning and Simulation Using Mapped Point Clouds[J]. Journal of System Simulation, 2024, 36(9): 2149-2158.

Figures/Tables 13

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Fig. 11

Table 1

Fig. 12

References 20

1	林俊强, 王红军, 邹湘军, 等. 基于DPPO的移动采摘机器人避障路径规划及仿真[J]. 系统仿真学报, 2023, 35(8): 1692-1704.
	Lin Junqiang, Wang Hongjun, Zou Xiangjun, et al. Obstacle Avoidance Path Planning and Simulation of Mobile Picking Robot Based on DPPO[J]. Journal of System Simulation, 2023, 35(8): 1692-1704.
2	王思玉, 牛成强, 李钊, 等. 典型果蔬采摘机器人研究现状与趋势[J]. 新疆农机化, 2021(6): 14-17, 21.
	Wang Siyu, Niu Chengqiang, Li Zhao, et al. Current Research Status and Development Trends of Typical Fruit and Vegetable Harvest Robot[J]. Xinjiang Agricultural Mechanization, 2021(6): 14-17, 21.
3	邹湘军, 孙健, 何汉武, 等. 虚拟现实技术的演变发展与展望[J]. 系统仿真学报, 2004, 16(9): 1905-1909.
	Zou Xiangjun, Sun Jian, He Hanwu, et al. The Development and Prospects of Virtual Reality[J]. Journal of System Simulation, 2004, 16(9): 1905-1909.
4	吴烽云, 叶雅欣, 陈思宇, 等. 复杂环境下香蕉多目标特征快速识别研究[J]. 华南农业大学学报, 2022, 43(2): 96-104.
	Wu Fengyun, Ye Yaxin, Chen Siyu, et al. Research on Fast Recognition of Banana Multi-target Features by Visual Robot in Complex Environment[J]. Journal of South China Agricultural University, 2022, 43(2): 96-104.
5	Cao Xiaoman, Yan Hansheng, Huang Zhengyan, et al. A Multi-objective Particle Swarm Optimization for Trajectory Planning of Fruit Picking Manipulator[J]. Agronomy, 2021, 11(11): 2286.
6	Ye Lei, Duan Jieli, Yang Zhou, et al. Collision-free Motion Planning for the Litchi-picking Robot[J]. Computers and Electronics in Agriculture, 2021, 185: 106151.
7	Liu Xiaohuan, Zhang Degan, Zhang Jie, et al. A Path Planning Method Based on the Particle Swarm Optimization Trained Fuzzy Neural Network Algorithm[J]. Cluster Computing, 2021, 24(3): 1901-1915.
8	Volkan Pehlivanoglu Y, Pehlivanoglu Perihan. An Enhanced Genetic Algorithm for Path Planning of Autonomous UAV in Target Coverage Problems[J]. Applied Soft Computing, 2021, 112: 107796.
9	张佳尚, 陈志华. 基于预添加虚拟力的改进人工势场算法[J]. 兵器装备工程学报, 2023, 44(3): 219-225.
	Zhang Jiashang, Chen Zhihua. The Improved Artificial Potential Field Algorithm Based on Pre-added Virtual Force[J]. Journal of Ordnance Equipment Engineering, 2023, 44(3): 219-225.
10	Gai Shengnan, Sun Rui, Chen Shunjun, et al. 6-DOF Robotic Obstacle Avoidance Path Planning Based on Artificial Potential Field Method[C]//2019 16th International Conference on Ubiquitous Robots (UR). Piscataway: IEEE, 2019: 165-168.
11	张师瑜, 任永杰, 张腾. 基于视觉定位与改进RRT的机械臂自动拾放系统[J]. 自动化与仪器仪表, 2022(7): 221-228.
	Zhang Shiyu, Ren Yongjie, Zhang Teng. Robotic Arm Automatic Pick-and-place System Based on Visual Positioning and Improved RRT Algorithm[J]. Automation & Instrumentation, 2022(7): 221-228.
12	曾赟, 丁爱萍, 何欣. 多传感器信息融合的机械臂避障路径规划方法[J]. 机械设计与制造, 2023, 392(10): 258-262.
	Zeng Yun, Ding Aiping, He Xin. Obstacle Avoidance Path Planning Method of Manipulator Based on Multi-sensor Information Fusion[J]. Machinery Design & Manufacture, 2023, 392(10): 258-262.
13	Abdi Ali, Adhikari Dibash, Ju Hong Park. A Novel Hybrid Path Planning Method Based on Q-learning and Neural Network for Robot Arm[J]. Applied Sciences, 2021, 11(15): 6770.
14	Wen Shuhuan, Chen Jianhua, Wang Shen, et al. Path Planning of Humanoid Arm Based on Deep Deterministic Policy Gradient[C]//2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). Piscataway: IEEE, 2018: 1755-1760.
15	Kulkarni Prasad, Goswami Dip, Guha Prithwijit, et al. Path Planning for a Statically Stable Biped Robot Using PRM and Reinforcement Learning[J]. Journal of Intelligent and Robotic Systems, 2006, 47(3): 197-214.
16	卢英, 王慧琴, 佟威, 等. 基于Harris-张正友平面标定法的摄像机标定算法[J]. 西安建筑科技大学学报(自然科学版), 2014, 46(6): 860-864, 870.
	Lu Ying, Wang Huiqin, Tong Wei, et al. Based on Harris-Zhang Zhengyou Plane Calibration Method of Camera Calibration Algorithm[J]. Journal of Xi'an University of Architecture & Technology(Natural Science Edition), 2014, 46(6): 860-864, 870.
17	莫宇达, 邹湘军, 叶敏, 等. 基于Sylvester方程变形的荔枝采摘机器人手眼标定方法[J]. 农业工程学报, 2017, 33(4): 47-54.
	Mo Yuda, Zou Xiangjun, Ye Min, et al. Hand-eye Calibration Method Based on Sylvester Equation Deformation for Lychee Harvesting Robot[J]. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(4): 47-54.
18	李仁忠, 杨曼, 冉媛, 等. 基于方法库的点云去噪与精简算法[J]. 激光与光电子学进展, 2018, 55(1): 243-249.
	Li Renzhong, Yang Man, Ran Yuan, et al. Point Cloud Denoising and Simplification Algorithm Based on Method Library[J]. Laser & Optoelectronics Progress, 2018, 55(1): 243-249.
19	Karaman S, Frazzoli E. Sampling-based Algorithms for Optimal Motion Planning[J]. The International Journal of Robotics Research, 2011, 30(7): 846-894.
20	Gammell J D, Srinivasa S S, Barfoot T D. Informed RRT^*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway: IEEE, 2014: 2997-3004.

测试方法	平均规划时间/s	迭代次数	平均代价函数/mm	平均机械臂执行时间/s
RRT*	9.56	200	465.82	7.45
M-Informed RRT*	7.23	200	461.93	6.34

[1]	Wang Yuelong, Wang Songyan, Chao Tao. Multi-step Information Aided Q-learning Path Planning Algorithm [J]. Journal of System Simulation, 2024, 36(9): 2137-2148.
[2]	Liu Jialun, Yang Fan, Xie Lingli, Li Shijie, Wang Tengfei. Research on Virtual Simulation Testing Technology for Intelligent Navigation Collision Avoidance Decision-making and Planning [J]. Journal of System Simulation, 2024, 36(8): 1780-1789.
[3]	Liu Bin, Lan Ying, Huang Wentao, Fan Qinqin. UAV Dynamic Path Planning Algorithm Combined with Dynamic Window Approach [J]. Journal of System Simulation, 2024, 36(8): 1843-1853.
[4]	Lai Rongshen, Dou Lei, Wu Zhiyong, Sun Shuai. Fusion of Improved A* and Dynamic Window Approach for Mobile Robot Path Planning [J]. Journal of System Simulation, 2024, 36(8): 1884-1894.
[5]	Huang Zhifeng, Liu Yuanhua. UAV Path Planning Based on Improved Harris Hawk Algorithm and B-spline Curve [J]. Journal of System Simulation, 2024, 36(7): 1509-1524.
[6]	Wang Yaru, Yao Dexin, Liu Zengli, Peng Yi. Path Planning for Mobile Robot Based on Angle Search [J]. Journal of System Simulation, 2024, 36(7): 1643-1654.
[7]	Lei Xu, Chen Jingyi, Chen Xiaoyang. Research on Path Planning of Warehouse Robot with Improved Harris Hawks Algorithm [J]. Journal of System Simulation, 2024, 36(5): 1081-1092.
[8]	Xiao Peng, Xie Feng, Ni Haihong, Zhang Min, Tang Zhili, Li Ni. Research on Collaborative Optimization Method of Multi-UAV Task Allocation and Path Planning [J]. Journal of System Simulation, 2024, 36(5): 1141-1151.
[9]	Liu Zesen, Bi Sheng, Guo Chuanhong, Wang Yankui, Dong Min. Deep Learning Based Local Path Planning Method for Moving Robots [J]. Journal of System Simulation, 2024, 36(5): 1199-1210.
[10]	Wang Xiaokang, Ji Jie, Liu Yang, He Qing. Path Planning of Unmanned Delivery Vehicle Based on Improved Q-learning Algorithm [J]. Journal of System Simulation, 2024, 36(5): 1211-1221.
[11]	Jiang Zhaozhen, Wang Wenlong, Sun Wenqi. Path Planning Rapid Algorithm Based on Modified RRT* for Unmanned Surface Vessel [J]. Journal of System Simulation, 2024, 36(4): 888-900.
[12]	Zhang Rui, Zhou Li, Liu Zhengyang. Dynamic Path Planning for Mobile Robot Based on RRT* and Dynamic Window Approach [J]. Journal of System Simulation, 2024, 36(4): 957-968.
[13]	Li Gaoyang, Li Xiangfeng, Zhao Kang, Jin Yuchao, Yi Zhidong, Zuo Dunwen. Three-Dimensional Path Planning of UAV Based on All Particles Driving Wild Horse Optimizer Algorithm [J]. Journal of System Simulation, 2024, 36(3): 595-607.
[14]	Yu Xiang, Jiang Chen, Duan Sirui, Deng Qianrui. Path Planning for Improvement of A* Algorithm and Artificial Potential Field Method [J]. Journal of System Simulation, 2024, 36(3): 782-794.
[15]	Tang Yunchao, Qi Shaojun, Zhu Lixue, Zhuo Xianrong, Zhang Yunqi, Meng Fan. Obstacle Avoidance Motion in Mobile Robotics [J]. Journal of System Simulation, 2024, 36(1): 1-26.