控制理论与应用2026，Vol.43Issue(4)：783-792,10.DOI:10.7641/CTA.2024.40128
基于人工势场法的机械臂动态运动基元局部平滑避障方法
Local smooth obstacle avoidance method for dynamic motion primitives of manipulators based on artificial potential field
刘暾东 1林晨滢 1吴晓敏2
作者信息
- 1. 厦门大学萨本栋微米纳米科学技术研究院,福建 厦门 361102
- 2. 厦门理工学院光电与通信工程学院,福建 厦门 361024
- 折叠
摘要
Abstract
Aiming at the low modeling efficiency and oscillation problem of obstacle avoidance trajectory planning for manipulators in space,a local smooth obstacle avoidance method based on artificial potential field method for dynamic motion primitives of manipulators is proposed.This method uses dynamic motion primitives(DMP)to learn the charac-teristic parameters of a single teaching trajectory,realizing fast generalised modeling of similar trajectories for any target point in space;by setting obstacle distance constraints and introducing the artificial potential field method(APF)to plan local obstacle avoidance for the generalised trajectory of DMP,a virtual target point strategy is proposed to improve the planning stability of the trajectory;using cubic Bezier interpolation to generate transition curves,achieving smooth obstacle avoidance and eliminating trajectory oscillation problems.To verify the effectiveness of the method,obstacle avoidance experiments for manipulators in static and dynamic obstacle scenarios are conducted against the background of non-ferrous metal de-slagging processes.Experimental results show that compared to traditional obstacle avoidance planning methods,the method proposed in this paper has improved average planning time efficiency and trajectory smoothness,with promising application prospects.关键词
机械臂/动态运动基元/人工势场/局部平滑避障Key words
manipulators/dynamic motion primitives/artificial potential field/local smooth obstacle avoidance引用本文复制引用
刘暾东,林晨滢,吴晓敏..基于人工势场法的机械臂动态运动基元局部平滑避障方法[J].控制理论与应用,2026,43(4):783-792,10.
