Obstacle Avoidance Path Planning for Six-DOF Manipulator Based on Voronoi Diagram

摘要

In order to solve obstacle avoidance for manipulator in static environment, a method of obstacle avoidance path planning for six-DOF manipulator based on the Configuration space (C-space) and Voronoi diagram is proposed in this paper. Obstacles in the workspace are mapped to the C-space at first. Several Voronoi cells are chosen from the obstacles and the path map based on Voronoi diagram in the C-space is generated, then the obstacle avoidance path planning from the starting point to the target point is completed. Finally, the experiment results show that compare to obstacle avoidance path planning for manipulator based on A* algorithm, this method has lower search cost and ensures manipulator keep a greater distance with obstacles.