An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators

doi:10.1177/1729881418799562

CIOMP OpenIR

	An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators
	Wang, W. R.; Zhu, M. C.; Wang, X. M.; He, S.; He, J. P.; Xu, Z. B.
	2018
发表期刊	International Journal of Advanced Robotic Systems
ISSN	1729-8814
卷号	15 期号:5 页码:13
摘要	In this article, we present an improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators. Specifically, we not only focused on the position for the manipulator end-effectors but also considered their posture in the course of trajectory planning and obstacle avoidance. We introduced boundaries for Cartesian space components to optimize the attractive field function. Moreover, the manipulator achieved a reasonable speed to move to the target pose, regardless of the difference between the initial pose and target pose. We proved the stability using Lyapunov stability theory by introducing velocity feedforward, when the manipulator moved along a continuous trajectory. Considering the shape of the manipulator joints and obstacles, we set up the collision detection model by projecting the obstacles to link coordinates. In this case, establishing the repulsive field between the nearest points on every joint and obstacles with the closest distance was sufficient for achieving obstacle avoidance for redundant manipulators. The simulation results based on a nine-degree-of-freedom hyper-redundant manipulator, which was designed and made in our laboratory, fully substantiated the efficacy and superiority of the proposed method.
关键词	Trajectory planning attractive potential field velocity feedforward obstacle avoidance repulsive potential field cluttered environments mobile robots null-space navigation algorithms path Robotics
DOI	10.1177/1729881418799562
收录类别	SCI ; EI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/60904
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Wang, W. R.,Zhu, M. C.,Wang, X. M.,et al. An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators[J]. International Journal of Advanced Robotic Systems,2018,15(5):13.
APA	Wang, W. R.,Zhu, M. C.,Wang, X. M.,He, S.,He, J. P.,&Xu, Z. B..(2018).An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators.International Journal of Advanced Robotic Systems,15(5),13.
MLA	Wang, W. R.,et al."An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators".International Journal of Advanced Robotic Systems 15.5(2018):13.

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