TY - GEN
T1 - Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field
AU - Zhao, Jiangbo
AU - Zhao, Qiang
AU - Wang, Junzheng
AU - Zhang, Xin
AU - Wang, Yanlong
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper takes 6-DOF manipulator as the research object, proposes the improved Artificial Potential Field (APF) method to plan the obstacle avoidance path of the manipulator, and combines the Danger Field (DF) method to evaluate the safety of the path planned using APF. According to the characteristics of the manipulator, the kinematics model of the manipulator is analyzed, and the ball envelope algorithm is applied to simplify the physical model of the obstacle. Compared with the traditional APF method, the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and accuracy. The problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction potential. The improved APF not only has the advantages of good real-time performance and smooth path, but also solves the problem of the traditional APF falling into a local minimum, and combines the danger field method to judge the path rationality to ensure no collision with obstacles. Through simulation verification, the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.
AB - This paper takes 6-DOF manipulator as the research object, proposes the improved Artificial Potential Field (APF) method to plan the obstacle avoidance path of the manipulator, and combines the Danger Field (DF) method to evaluate the safety of the path planned using APF. According to the characteristics of the manipulator, the kinematics model of the manipulator is analyzed, and the ball envelope algorithm is applied to simplify the physical model of the obstacle. Compared with the traditional APF method, the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and accuracy. The problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction potential. The improved APF not only has the advantages of good real-time performance and smooth path, but also solves the problem of the traditional APF falling into a local minimum, and combines the danger field method to judge the path rationality to ensure no collision with obstacles. Through simulation verification, the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.
KW - Artificial potential field
KW - Collision detection
KW - Danger field
KW - Obstacle avoidance
KW - Path planning
UR - http://www.scopus.com/inward/record.url?scp=85125176194&partnerID=8YFLogxK
U2 - 10.1109/CCDC52312.2021.9601861
DO - 10.1109/CCDC52312.2021.9601861
M3 - Conference contribution
AN - SCOPUS:85125176194
T3 - Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
SP - 3018
EP - 3025
BT - Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 33rd Chinese Control and Decision Conference, CCDC 2021
Y2 - 22 May 2021 through 24 May 2021
ER -