基于改进人工势场法的机械手避障规划

摘要

A new obstacle avoidance method is proposed to solve the problem of goals non-reachable with obstacle nearby (GNRON) and local minimum in three dimensional environment, which is based on the improved artificial potential field function. It makes the end-effector move at the direction of the resultant force, end-effector avoids obstacle with potential field force, which solves the problem of goals non-reachable with obstacle nearby ( GNRON). Angle migration is used in X-Y plane to make end-effector jump out of local minimum at least, which solves the local minimum problem in potential field method, so manipulator can avoid obstacle to the goals. The planning algorithm specific step of manipulator obstacle avoidance is given. The simulation results show that this method is applied in the task, which includes end-effector, obstacle and goals position. The end-effector jumps out of local minimum along the planning path, avoids obstacle and reaches the goals successfully. It shows that the algorithm is effective%针对三维环境中机械手在障碍物附近目标不可达问题和局部最小值问题,提出一种基于改进人工势场法的机械手避障方法.该方法以机械手末端所受合力的方向作为其运动方向,通过势场力的作用使机械手末端避开障碍物,解决障碍物附近目标不可达问题；采用X-Y平面内的角度偏移法,使机械手末端迅速跳出局部最小值,解决势场法的局部最小值问题；从而使机械手避开障碍物到达目标位置,并给出了机械手避障规划算法的具体实现步骤.将该方法应用于机械手末端位置、障碍物位置和目标位置已知条件下的常规作业任务中,仿真实验结果表明,机械手末端沿着规划路径可跳出局部最小值,并避开障碍物,成功到达目标位置,验证了该算法的有效性.