Mechanical arm obstacle avoidance path planning based on improved artificial potential field method

• Published in: Industrial robot 2022-02, Vol.49 (2), p.271-279
• Main Authors: Xu, Tianying, Zhou, Haibo, Tan, Shuaixia, Li, Zhiqiang, Ju, Xia, Peng, Yichang
• Format: Article
• Language: English
• Subjects: Algorithms; Collision avoidance; Falling; Mechanical arms; Minima; Obstacle avoidance; Path planning; Planning; Potential fields; Robotics; Robots
• ISSN: 0143-991X; 0143-991X; 1758-5791
• DOI: 10.1108/IR-06-2021-0120

Purpose>This paper aims to resolve issues of the traditional artificial potential field method, such as falling into local minima, low success rate and lack of ability to sense the obstacle shapes in the planning process.Design/methodology/approach>In this paper, an improved artificial potential field method is proposed, where the object can leave the local minima point, where the algorithm falls into, while it avoids the obstacle, following a shorter feasible path along the repulsive equipotential surface, which is locally optimized. The whole obstacle avoidance process is based on the improved artificial potential field method, applied during the mechanical arm path planning action, along the motion from the starting point to the target point.Findings>Simulation results show that the algorithm in this paper can effectively perceive the obstacle shape in all the selected cases and can effectively shorten the distance of the planned path by 13%–41% with significantly higher planning efficiency compared with the improved artificial potential field method based on rapidly-exploring random tree. The experimental results show that the improved artificial potential field method can effectively plan a smooth collision-free path for the object, based on an algorithm with good environmental adaptability.Originality/value>An improved artificial potential field method is proposed for optimized obstacle avoidance path planning of a mechanical arm in three-dimensional space. This new approach aims to resolve issues of the traditional artificial potential field method, such as falling into local minima, low success rate and lack of ability to sense the obstacle shapes in the planning process.