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.

中文翻译：

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基于改进人工势场法的机械臂避障路径规划

目的

本文旨在解决传统人工势场法在规划过程中陷入局部极小、成功率低、对障碍物形状感知能力不足等问题。

设计/方法/方法

本文提出了一种改进的人工势场方法，目标可以离开算法落入的局部极小点，同时避开障碍物，沿着排斥等势面沿着较短的可行路径，进行局部优化。 . 整个避障过程基于改进的人工势场法，应用于机械臂路径规划动作中，沿着从起点到目标点的运动。

发现

仿真结果表明，本文算法在所有选定情况下都能有效感知障碍物形状，与基于改进的人工势场法相比，可有效缩短规划路径距离13%~41%，规划效率显着提高。在快速探索的随机树上。实验结果表明，改进的人工势场法可以有效地为目标规划出一条平滑的无碰撞路径，该算法基于环境适应性较好的算法。

原创性/价值

提出了一种改进的人工势场法，用于优化机械臂在三维空间中的避障路径规划。这种新方法旨在解决传统人工势场方法在规划过程中陷入局部极小、成功率低、缺乏感知障碍物形状的能力等问题。