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Mathematical Problems in Engineering
Volume 2017, Article ID 7310105, 15 pages
Research Article

A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

1State Key Laboratory of Robotics and Systems, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
2Aerospace System Engineering Shanghai, Shanghai 201109, China

Correspondence should be addressed to Hongzhe Jin; nc.ude.tih@nijehzgnoh, Ge Li; nc.ude.tih@egil, Yanhe Zhu; nc.ude.tih@uhzhy, and Jie Zhao; nc.ude.tih@oahzj

Received 3 November 2016; Accepted 14 December 2016; Published 30 April 2017

Academic Editor: Yuri Vladimirovich Mikhlin

Copyright © 2017 Hongzhe Jin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.