Multi-objective GA for Collision Avoidance on Robot Manipulators Based on Artificial Potential Field

摘要

This paper presents a path planning strategy for robotic manipulators based on genetic algorithms, dual quaternions and artificial potential field, designing a multi-objective function that allow trajectories be planned avoiding collisions in the workspace and singularity-free kinematic restrictions for manipulators as an optimization problem, satisfying position and orientation conditions. Its analysis is based on the problem of generating a trajectory followed by a sequence of coordinated movements capable of moving the manipulator to perform tasks in the workspace, the problem is not only generated these movements, but also implement strategies that define the path with tools that are easy to implement and avoid obstacles autonomously. Robot kinematics solved by dual quaternion can be used to combine translation with orientation on robotic manipulators in a systematic way, simplifying calculation operations compatible with conventional methods. The artificial potential field approach has been extended to collision avoidance for all manipulator links. A genetic algorithm is used to solve the problem, which the fitness of the problem can be measured by a multi-objective function that involves the distance between the initial and desired position/orientation, minimum joint displacement, dual quaternion configuration, the use of attraction potential to the goal and a repulsion potential to the obstacles and its own links. This method has been implemented in MatLab© for an ABB© IRB1600 robot. Collision avoidance demonstrations have been performed by simulating equipment and static objects in the robot's workspace.