Improved artificial field method on obstacle avoidance path planning for manipulator
Wang Junlon · Computer Engineering and Applications Journal · 2013
Aiming at the shortcoming of traditional method of path planning using merely on typical structure of manipulator, after the result of using a third way as genetic algorithm to get an ideal data, a new method of improved artificial method with combined potential energy steepest descent based on arthrosis space is proposed. Using the method of adding virtual obstacle in the minimum field to produce virtual potential energy in solving the problem of local minimum, the manipulator successfully achieves the goal avoiding the obstacle. The simulation results show that the proposed method is valid and effective in path planning of manipulator.