基于改进人工势场法的机械臂路径规划

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

针对传统人工势场法对机械臂进行路径规划时存在局部最小值等问题,对人工势场法进行改进。首先,建立机械臂碰撞模型,确保实现有效碰撞检测;其次,重新定义传统算法的引力斥力函数,解决引力过大而斥力作用弱化导致碰撞以及障碍物与目标点距离过小造成目标不可达的问题;最后,提出一种基于椭圆模型的策略跳出算法局部最小值陷阱和局部震荡,最后进行了仿真验证。结果表明,改进后的人工势场法简单可靠,避免了原算法的局部最小等问题,能快速有效地实现机械臂避障路径规划。

An improved artificial potential field method is proposed to aim at the problems of Local minimum in traditional artificial potential field method for path planning of manipulator.First,build a collision model of manipulator to ensure effective collision detection.Secondly,redefine the gravitational repulsion function of the traditional algorithm to solve the problem of collision caused by excessive gravity and weakened repulsion,and the target unreachable problem caused by the distance between obstacles and the target object is too small.Thirdly,a strategy based on the ellipse model is proposed to escape the Local minimum trap and Local oscillation of the algorithm,and finally the simulation verification is carried out.The results show that the improved artificial potential field method is simple and reliable,avoids the Local minimum problem of the original algorithm,and can realize the obstacle avoidance path planning of the manipulator quickly and effectively.