一种改进人工势场法的机械臂路径规划方法

Path Planning Method of Manipulator Based on Improved Artificial Potential Field Method

针对人工势场法算法存在复杂障碍物环境中易陷入局部最小值无法运动的问题,本文提出了一种适用于静态环境中机械臂路径规划改进的人工势场法,通过在引力场中添加引力安全阈值,在斥力场中添加路径搜索当前点与目标点的欧式距离,引入自适应大步长的模拟退火算法对局部最小值进行逃逸。首先,修改势场函数模型;然后,当搜索路径陷入局部最小值时,采用自适应大步长的模拟退火算法往障碍物最少的空间逃逸;最后,在规划出来的路径上提出一种冗余节点删除策略与拐点消除算法,对规划出来的路径进行平滑处理。仿真和实验验证了本文提出的六自由度机械臂避障路径规划策略有效性。

Aiming at the problem that the algorithm of artificial potential field method is easy to fall into local minimum in complex obstacle environment,in this paper,an improved manipulator path planning algorithm in static environment is proposed,which is able to escape the local minimum by adding a gravitational safety threshold to the gravitational field,a path to the repulsive field,the Euclidean distance between the current point and the target point is searched. Firstly,the function model of the potential field is modified. Then,the adaptive long-step simulated annealing algorithm is applied to escape to the space with the least obstacles for avoiding the search path falls into the local minimum. Finally,redundant node deletion strategy and inflection point elimination algorithms are proposed to smooth the planned path on the planned path. The simulation and experiments verify the effectiveness of the proposed obstacle avoidance path planning strategy for the 6-DOF manipulator.