计算机工程与应用Issue(21)：266-270,5.DOI:10.3778/j.issn.1002-8331.1201-0360
改进人工势场法的机械臂避障路径规划
Improved artificial field method on obstacle avoidance path plan-ning for manipulator
王俊龙 1张国良 1羊帆 2敬斌1
作者信息
- 1. 第二炮兵工程大学 301教研室，西安 710025
- 2. 宝鸡市150信箱11分箱23号
- 折叠
摘要
Abstract
Aiming at the shortcoming of traditional method of path planning using merely on typical structure of manipula-tor, 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 plan-ning of manipulator.关键词
改进人工势场法/合势能最速下降/机械臂/路径规划/虚拟障碍Key words
improved artificial field method/combined potential energy steepest descent/manipulator/path planning/virtual obstacle分类
信息技术与安全科学引用本文复制引用
王俊龙,张国良,羊帆,敬斌..改进人工势场法的机械臂避障路径规划[J].计算机工程与应用,2013,(21):266-270,5.
