基于改进人工势场法双向规划的双机械臂避碰路径规划

Collision avoidance path planning of dual manipulators based on bidirectional planning of improved artificial potential field method

针对双机械臂避碰路径规划问题,提出了基于改进人工势场法的双向规划算法.首先对人工势场法进行了改进:在斥力势能函数中引入变增益系数,改善了障碍物附近的振荡问题;在路径搜索时采用自适应步长策略,提升了算法效率;提出了双向规划算法,避免了算法陷入局部极小点.接着将本文改进的人工势场法应用于双机械臂路径规划,双臂采用主从运动模式,先针对环境障碍物规划主臂路径,再根据主臂在每个时刻点的位姿信息获得主臂的碰撞模型,将其作为动态障碍来规划从臂路径.算法仿真结果验证了本文提出的双臂避碰路径规划算法的可行性与有效性.

Based on the improved artificial potential field method,a bidirectional planning algorithm is proposed to solve the collision avoidance problem of dual manipulators.Firstly,the artificial potential field method is improved.The variable gain coefficient is introduced into the repulsion potential function to improve the oscillation near the obstacle;the adaptive step size strategy is adopted to improve the efficiency of the algorithm;a bidirectional programming algorithm is proposed to avoid the algorithm from getting into local minima.Then the algorithm is applied to the path planning of the dual manipulators,which are in master-slave mode.First,the path of the master manipulator is planned for environmental obstacles.Then the collision model of the master manipulator is obtained according to the pose information of the master manipulator at each time point,and it is used as a dynamic obstacle to plan the path of the slave manipulator.Simulation results testify the feasibility and effectiveness of the proposed dual-manipulator collision avoidance path planning algorithm.