We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are constructed from labelled point clouds. Then, the nonlinear and highly nonconvex optimal control problem is solved by introducing a homotopy on the obstacle positions where at one extreme of the parameter the obstacles are removed from the operating space, and at the other extreme they are located at their intended positions. We present a detailed example (with more than a thousand obstacles) from stereotactic neurosurgery with real-world data obtained from labelled MPRI scans.
翻译：我们提供了一个工具链,通过障碍场解决同心管机器人的路径规划问题。 首先,代表目标区域的双向装置和障碍是用标有点云建造的。 然后,非线性和高度非线性的最佳控制问题通过在障碍位置上引入一个同质结构来解决,在障碍位置上将障碍从操作空间的某一极点清除出来,而在另一极点,障碍位于其预定位置上。 我们举了一个来自立体神经外科的详细例子(有超过一千个障碍),通过标有“MPRI”扫描获得真实世界数据。
相关内容
微信扫码咨询专知VIP会员