Exploring a Novel Multiple-Query Resistive Grid-Based Planning Method Applied to High-DOF Robotic Manipulators

Area of Science:

• Robotics and Automation
• Artificial Intelligence
• Path Planning Algorithms

Background:

• Path planning for high-degree-of-freedom (DOF) robotic manipulators is crucial for industrial, space, surgical, and pharmaceutical applications.
• Existing methods, like demonstration, struggle with complex environments containing numerous obstacles and high manipulator redundancy.
• The need for efficient, automated collision-free path planning is driven by the limitations of manual intervention and simpler planning strategies.

Purpose of the Study:

• To present a novel multiple-query path planning method for high-DOF robotic manipulators.
• To address the challenges of planning collision-free trajectories in environments with multiple obstacles.
• To enhance the efficiency and applicability of path planning for complex robotic tasks.

Main Methods:

• Development of a multiple-query planner inspired by the resistive grid-based planner method (RGBPM).
• Implementation of improvements to handle complex planning problems and large sparse matrices.
• Recycling previous simulation strategies to convert the RGBPM into a multiple-query planner.

Main Results:

• The proposed method successfully generates collision-free paths for manipulators with 3, 5, and 6 DOFs in environments with numerous obstacles.
• The planner demonstrates rapid computation of new paths, with queries taking less than 0.2 seconds for 3 DOF and under 30 seconds for 5 and 6 DOF manipulators.
• Validation through numerical simulations and a case study using a KUKA LBR iiwa 14R820 manipulator in a complex environment confirmed the method's efficacy.

Conclusions:

• The novel multiple-query path planning strategy is effective for high-DOF robotic manipulators in complex, obstacle-laden environments.
• The method offers significant improvements in computational speed for subsequent path queries.
• This advancement facilitates greater automation and applicability of robotic manipulators in demanding industrial and specialized sectors.