发表刊物：WRC SARA 2023
关键字：A Safety Motion Planning Algorithm，Mobile Manipulator，Improved LSTM Neural Network，Capability Map
摘要：The indoor narrow environments, such as assembly in large aircraft cabins, suffer from the inefficiency and compromised quality of manual operations. The existing mobile manipulators for human-machine collaboration still have certain deficiencies, including high redundancy, insufficient constraints, and weak active safety protection capabilities. In light of these challenges, we present a safety motion planning algorithm for mobile manipulator based on improved LSTM neural network and Capability Map (CM). We have modified the robot's capability index (CI) based on the safety potential field function. This provides the spatial representation of robot operation ability for motion planning. In addition, we have added a security gate mechanism to LSTM, enabling more accurate prediction of personnel movements in high-risk areas. The experimental results demonstrate that this algorithm holds great potential in human-machine collaboration. By doing so, the algorithm enables more accurate prediction of the movement trajectory of personnel and facilitates the avoidance of motion conflicts between robots and personnel.
论文类型：应用研究
是否译文：否
收录刊物：EI