Path planning of six-DOF serial robots based on improved artificial potential field method

2017 ◽  
Author(s):  
Ning Zhang ◽  
Yong Zhang ◽  
Chao Ma ◽  
Bin Wang
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Serial Robots ◽  
Potential Field Method ◽  
Six Dof ◽  
Artificial Potential Field Method

scholarly journals Improved Artificial Potential Field and Dynamic Window Method for Amphibious Robot Fish Path Planning

2021 ◽  
Vol 11 (5) ◽  
pp. 2114
Author(s):  
Wenlin Yang ◽  
Peng Wu ◽  
Xiaoqi Zhou ◽  
Haoliang Lv ◽  
Xiaokai Liu ◽  
...  
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Local Minimum ◽  
Field Method ◽  
Artificial Potential Field ◽  
Evaluation Function ◽  
Potential Field Method ◽  
Robot Fish ◽  
Amphibious Robot ◽  
Artificial Potential Field Method

Aiming at the problems of “local minimum” and “unreachable target” existing in the traditional artificial potential field method in path planning, an improved artificial potential field method was proposed after analyzing the fundamental causes of the above problems. The method solved the problem of local minimum by modifying the direction and influence range of the gravitational field, increasing the virtual target and evaluation function, and the problem of unreachable targets is solved by increasing gravity. In view of the change of motion state of robot fish in amphibious environments, the improved artificial potential field method was fused with a dynamic window algorithm, and a dynamic window evaluation function of the optimal path was designed on the basis of establishing the dynamic equations of land and underwater. Then, the simulation experiment was designed under the environment of Matlab2019a. Firstly, the improved and traditional artificial potential field methods were compared. The results showed that the improved artificial potential field method could solve the above two problems well, shorten the operation time and path length, and have high efficiency. Secondly, the influence of different motion modes on path planning is verified, and the result also reflects that the amphibious robot can avoid obstacles flexibly and reach the target point accurately according to its own motion ability. This paper provides a new way of path planning for the amphibious robot.

Mechanical arm obstacle avoidance path planning based on improved artificial potential field method

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Tianying Xu ◽  
Haibo Zhou ◽  
Shuaixia Tan ◽  
Zhiqiang Li ◽  
Xia Ju ◽  
...  
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Planning Process ◽  
Field Method ◽  
Artificial Potential Field ◽  
Local Minima ◽  
Content Type ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Purpose This paper aims to resolve issues of the traditional artificial potential field method, such as falling into local minima, low success rate and lack of ability to sense the obstacle shapes in the planning process. Design/methodology/approach In this paper, an improved artificial potential field method is proposed, where the object can leave the local minima point, where the algorithm falls into, while it avoids the obstacle, following a shorter feasible path along the repulsive equipotential surface, which is locally optimized. The whole obstacle avoidance process is based on the improved artificial potential field method, applied during the mechanical arm path planning action, along the motion from the starting point to the target point. Findings Simulation results show that the algorithm in this paper can effectively perceive the obstacle shape in all the selected cases and can effectively shorten the distance of the planned path by 13%–41% with significantly higher planning efficiency compared with the improved artificial potential field method based on rapidly-exploring random tree. The experimental results show that the improved artificial potential field method can effectively plan a smooth collision-free path for the object, based on an algorithm with good environmental adaptability. Originality/value An improved artificial potential field method is proposed for optimized obstacle avoidance path planning of a mechanical arm in three-dimensional space. This new approach aims to resolve issues of the traditional artificial potential field method, such as falling into local minima, low success rate and lack of ability to sense the obstacle shapes in the planning process.

scholarly journals Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Ming Zhao ◽  
Xiaoqing Lv
Keyword(s):  
Path Planning ◽  
Success Rate ◽  
Obstacle Avoidance ◽  
Potential Field ◽  
Field Method ◽  
Working Environment ◽  
Artificial Potential Field ◽  
End Point ◽  
Potential Field Method ◽  
Artificial Potential Field Method

Aiming at the existing artificial potential field method, it still has the defects of easy to fall into local extremum, low success rate and unsatisfactory path when solving the problem of obstacle avoidance path planning of manipulator. An improved method for avoiding obstacle path of manipulator is proposed. First, the manipulator is subjected to invisible obstacle processing to reduce the possibility of its own collision. Second, establish dynamic virtual target points to enhance the predictive ability of the manipulator to the road ahead. Then, the artificial potential field method is used to guide the manipulator movement. When the manipulator is in a local extreme or oscillating, the extreme point jump-out function is used in real time to make the end point of the manipulator produce small displacements and change the action direction to effectively jump out of the dilemma. Finally, the manipulator is controlled to avoid all obstacles and move smoothly to form a spatial optimization path from the start point to the end point. The simulation experiment shows that the proposed method is more suitable for complex working environment and effectively improves the success rate of manipulator path planning, which provides a reference for further developing the application of manipulator in complex environment.

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