System Development & Application
|
App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 9
2760-2764

Scrubbing path planning of bathing robot based on improved artificial potential field method

Cheng Longa
Wang Xina
Wu Dib
Feng Zhiqiana
a. School of Mechanical Engineering, b. School of Computer Science & Technology, Dalian University of Technology, Dalian Liaoning 116024, China
DOI: 10.19734/j.issn.1001-3695.2023.02.0053

Abstract

Aiming at the autonomous navigation of the end effector of the bathing robot in direct contact with the human body, this paper proposed a three-dimensional coverage path planning algorithm which applied to the improved artificial potential field method based on the human point cloud. Firstly, it added the obstacle gravitational potential field to the basis of the traditional artificial potential field method, so that the robot could press close to the obstacle surface and moved toward to target point. And by adding virtual target points, it overcame the local minimum problem caused by the concave region. Then, it segmented the human point cloud and projected it onto a plane, combined with the improved artificial potential field method to complete the coverage path planning for the human body surface. Conducting simulation experiments based on a human model point cloud, the experimental results show that the proposed algorithm can quickly and effectively complete the 3D coverage scrubbing path planning.

Foundation Support

大连理工大学成都研究院资助项目(XM01006)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.02.0053
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 9
Section: System Development & Application
Pages: 2760-2764
Serial Number: 1001-3695(2023)09-030-2760-05

Publish History

[2023-04-26] Accepted Paper
[2023-09-05] Printed Article

Cite This Article

程龙, 王欣, 吴迪, 等. 改进人工势场法的洗浴机器人擦洗路径规划 [J]. 计算机应用研究, 2023, 40 (9): 2760-2764. (Cheng Long, Wang Xin, Wu Di, et al. Scrubbing path planning of bathing robot based on improved artificial potential field method [J]. Application Research of Computers, 2023, 40 (9): 2760-2764. )

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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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