基于改进人工势场法的机械臂避障路径规划

Path Planning of Manipulator to Avoid Obstacle Based on Improved Artificial Potential Field Method

摘要:

在对机械臂进行避障路径规划时，传统人工势场法依赖周围环境信息进行避障，针对障碍物精确信息较难获取，且形状不一，提出了采用椭球包围盒对障碍物进行建模，兼顾了包围盒的简单性和紧密性。同时，针对路径规划中容易陷入局部最优的问题，则提出了使用RRT（rapidly-exploring random tree）方法来解决这种问题，当路径规划陷入局部最优时，使用RRT算法自动生成并添加虚拟目标点，通过改变机械臂周围的环境从而达到跳出局部最优的目的。多次仿真实验表明，采用椭球包围盒建模并采用上述改进算法时，可以快速并且有效地规划出一条无障碍的路径。

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.