Abstract:Using traditional artificial potential field method on obstacle avoidance path planning of manipulator relies on environment around the manipulator,while the shape of obstacles could be various so it is difficult to obtain the accurate model of obstacle.Considering the tightness and simplicity of modeling thus proposed that using ellipsoid bounding-volume to build the model of obstacle.Besides,to solve the problems that path planning might fall into local minimum,proposed that using RRT（rapidly-exploring random tree）algorithm to improve this case,when path planning falls into local minimum,it will add virtual goal point automatically which produced by RRT algorithm to change the environment around the manipulator,through this method it can jump out of local minimum .The experiments results show that it can plan an obstacle free path quickly for manipulator using the method which combined of artificial potential field and RRT algorithm.
