Terminal Path Planning of Industrial Robot
Yixuan Yan, Jiancun Liu, Wei Li · 2023
To improve the traditional method of teaching paths for industrial robots, a path planning method using the repulsive force field of artificial potential field method is proposed to improve the A* algorithm in space to plan a moving path with high security. Extending the A* algorithm to space for global search, adding repulsive influence factors, improving the cost function, modifying the cost of moving the end of the manipulator near the obstacle, and improving the path safety. Comparing the performance of the traditional A* algorithm, Artificial Potential Field(APF) method and improved algorithm in the same environment, the improved algorithm has significantly improved in path security.