Obstacle Avoidance Path Planning for Manipulator Based on Improved Artificial Potential Field
Zuo Fu-yong · Measurement & Control Technology · 2012
A new obstacle avoidance method is proposed to solve the problem of goals non-reachable with obstacle nearby(GNRON) and local minimum in three dimensional environment,which is based on the improved artificial potential field function.It makes the end-effector move at the direction of the resultant force,end-effector avoids obstacle with potential field force,which solves the problem of goals non-reachable with obstacle nearby(GNRON).Angle migration is used in X-Y plane to make end-effector jump out of local minimum at least,which solves the local minimum problem in potential field method,so manipulator can avoid obstacle to the goals.The planning algorithm specific step of manipulator obstacle avoidance is given.The simulation results show that this method is applied in the task,which includes end-effector,obstacle and goals position.The end-effector jumps out of local minimum along the planning path,avoids obstacle and reaches the goals successfully. It shows that the algorithm is effective.