长臂钻机自主避障，用姿态参数化规划+碰撞屏障算法实现零失败
Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom
- 用姿态参数化生成路径，无需每任务重调
- 百万样本测试零逆解失败，定位误差毫米级
- 适合工业机器人自主作业场景，尤其长臂设备
长臂钻机需在不发生自碰撞的前提下连续到达多个姿态。向自主控制演进需具备碰撞感知的运动规划与执行能力。针对砂霸 SB60 钻机，本研究通过将姿态参数化规划与基于胶囊的控制屏障函数二次规划（CBF-QP）结合，在测量状态逆运动学（IK）中实现路径规划。每个任务使用固定的任务专用参数集生成航点、绕行路径、时序参考和链式运动，无需目标特定调参。离线绕行规划器基于23个选定的杆段-机体区域距离筛选候选航点；在线CBF-QP则利用九体素全身体胶囊模型配置的14对胶囊约束，过滤关节速度。评估在制造商开发的SB60 Simscape Multibody模型中进行两个钻孔任务：五目标受限姿态巡检与三目标全姿态巡检。在数以十万计的采样中，方法实现零逆解失败，生成多个绕行航点，平均末端位置误差达毫米级，且未记录任何采样时的CBF裕度低于报告阈值。
原文摘要 · Abstract (English)
Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and execution. For the Sandvik SB60, this study adapts established methods by integrating pose-parameterized planning with a capsule-based control barrier function quadratic program (CBF-QP) in measured-state inverse kinematics (IK). A fixed task-specific parameter set within each task generates waypoints, detours, timed references, and chained motion without target-specific retuning. The offline detour planner screens candidate waypoints using 23 selected rod-segment-to-body-region distances, whereas the online CBF-QP filters joint velocities using 14 configured capsule-pair constraints from a nine-primitive whole-body capsule model. Evaluation considers two drilling tasks in a manufacturer-developed SB60 Simscape Multibody model: a five-target restricted-orientation tour and a three-target full-pose tour. Across several hundred thousand samples, the method produced zero IK failures, generated several detour waypoints, achieved millimetre-level mean final-position error, and recorded no sampled CBF margins below the reported thresholds.
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