在半结构环境中用于混合结构规划的概率采样网络.
Xiancheng Ji1, Jianjun Yi1, Lin Su1
1School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, China.
Sensors (Basel, Switzerland)
|October 29, 2025
概括
本研究介绍了工业机器人的混合动力计划器,它结合了概率抽样网络 (PSNet) 和增强的人工潜力场 (EAPF). 这种新的方法提高了路径规划效率和复杂制造环境中的适应性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 制造业 工程 制造工程
背景情况:
- 传统的运动规划方法在高维空间中扎,限制了可适应的工业机器人.
- 智能制造需要高效和弹性运动规划解决方案.
研究的目的:
- 为适应性工业机器人开发一种新的混合动力运动计划器.
- 为了提高动作规划性能在高维空间使用Dempster-Shafer证据理论.
主要方法:
- 一个混合运动计划器,集成了一个概率抽样网络 (PSNet) 和一个增强的人工潜力场 (EAPF).
- 包含运动规划 (MPM) 和融合采样模块 (FSM) 的PSNet生成多式联网路径分布.
- 在最坏的情况下,FSM使用高斯重新采样来纠正碰撞,而EAPF在最坏的情况下修复本地路径.
主要成果:
- 提出的方法很快在不同的环境中找到直接连接的路径.
- 该系统可靠地避免突发障碍,显示出增强的弹性和适应性.
- 实验结果验证了协作运动规划策略的有效性.
结论:
- 德姆斯特-沙弗基于证据理论的混合动力运动计划器显著提高了机器人运动计划效率.
- 集成PSNet和EAPF为智能制造中的适应性工业机器人提供了强大的解决方案.
- 开发的系统提高了路线规划可靠性和在动态环境中的适应性.
相关概念视频
Sampling Plans
888
Sampling is a crucial step in analytical chemistry, allowing researchers to collect representative data from a large population. Common sampling methods include random, judgmental, systematic, stratified, and cluster sampling.
Random sampling is a method where each member of the population has an equal chance of being selected for the sample. It involves selecting individuals randomly, often using random number generators or lottery-type methods. For example, when analyzing the properties of a...
Random sampling is a method where each member of the population has an equal chance of being selected for the sample. It involves selecting individuals randomly, often using random number generators or lottery-type methods. For example, when analyzing the properties of a...
888
Stratified Sampling Method
14.5K
Sampling is a technique to select a portion (or subset) of the larger population and study that portion (the sample) to gain information about the population. The sampling method ensures that samples are drawn without bias and accurately represent the population. Because measuring the entire population in a study is not practical, researchers use samples to represent the population of interest.
To choose a stratified sample, divide the population into groups called strata and then take a...
To choose a stratified sample, divide the population into groups called strata and then take a...
14.5K
Cluster Sampling Method
14.0K
Appropriate sampling methods ensure that samples are drawn without bias and accurately represent the population. Because measuring the entire population in a study is not practical, researchers use samples to represent the population of interest.
To choose a cluster sample, divide the population into clusters (groups) and then randomly select some of the clusters. All the members from these clusters are in the cluster sample. For example, if you randomly sample four departments from your...
To choose a cluster sample, divide the population into clusters (groups) and then randomly select some of the clusters. All the members from these clusters are in the cluster sample. For example, if you randomly sample four departments from your...
14.0K
Hybrid Zones
21.7K
Hybrid zones are narrow regions where two closely related species interact, mate, and produce hybrids. Relative to either parent species, hybrids may possess distinct phenotypic or genetic differences that impact their survival and reproductive success. The genetic variances introduced by hybridization influence species diversity and speciation processes within the hybrid zone.
21.7K
Random Sampling Method
14.1K
Sampling is a technique to select a portion (or subset) of the larger population and study that portion (the sample) to gain information about the population. Data are the result of sampling from a population. The sampling method ensures that samples are drawn without bias and accurately represent the population. Because measuring the entire population in a study is not practical, researchers use samples to represent the population of interest. Among the various sampling methods used by...
14.1K
Structural Classification of Joints
6.9K
Joints, also known as articulations, are classified based on their structural characteristics, i.e., based on whether the articulating surfaces of the adjacent bones are directly connected by fibrous connective tissue or cartilage, or whether the articulating surfaces contact each other within a fluid-filled joint cavity. These differences serve to divide the joints of the body into three structural classifications.
A fibrous joint is where the adjacent bones are united by fibrous connective...
A fibrous joint is where the adjacent bones are united by fibrous connective...
6.9K


