Research on Path Planning of Puncture Robot Based on Improved Artificial Potential Field Method
Honghua Zhao, Xiwei Song, Qianqian Tian, Menghua Zhang, Dan Wu, Qing Tian Han · 2024
When studying the collision free path planning for puncture robots, due to the presence of obstacles such as medical equipment and instruments in the working environment. This article first compares commonly used collision detection methods, and selects appropriate algorithms based on the configuration and working environment of the puncture robot; Secondly, the method of the artificial field of potential energy is used for the design of the route, and the common problems of the traditional method of the artificial potential field, such as unattainable targets and local minima, are analyzed and solutions are proposed; Finally, testing was conducted in the ROS simulator, and according to the test results, the improved method of the artificial potential field can successfully guide the robot to the target point position without collision.