测控技术2012，Vol.31Issue(10)：109-111,116,4.
基于改进人工势场法的机械手避障规划
Obstacle Avoidance Path Planning for Manipulator Based on Improved Artificial Potential Field
摘要
Abstract
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关键词
机械手/避障规划/人工势场法Key words
manipulator/ obstacle avoidance plan/ artificial potential field分类
信息技术与安全科学引用本文复制引用
胡小平,谢珂,左富勇..基于改进人工势场法的机械手避障规划[J].测控技术,2012,31(10):109-111,116,4.基金项目
国家自然科学基金资助项目(60975069) （60975069）
湖南省自然科学市州联合基金资助项目(10JJ9010) （10JJ9010）
