摘要
针对人工势场法在三维避障路径规划的过程中机械臂末端容易陷入局部极小值的缺陷,把A~*算法与人工势场法混合,使机械臂末端跳出局部极小值点进行全局避障路径规划,得到一条从起始点到目标点的最优规划路径。同时,提出用立方体栅格对环境建模,并采用三次B样条曲线对该路径进行平滑优化。仿真实验表明,该方法对于复杂且任意变化的三维障碍物空间环境均有效,验证了所提混合算法在机械臂三维避障路径规划中的可行性与有效性。
In view that the manipulator end is easy to get into local minimum,using artificial potential field method in3D manipulator obstacle avoidance path planning,this paper puts forward a method of A^*algorithm mixed with the artificial potential field,which helps manipulator end to jump out of local minimum,and get global obstacle avoidance optimal planning path from the starting point to the target point.At the same time,this paper presents a cube grid method to model the working space,and cubic B-spline curve is used to optimize the path.Simulation experiments show that,the proposed mixed algorithm method is effective for complex and arbitrary 3D working space environment,and whose feasibility and effectiveness are verified in3D obstacle avoidance path planning.
作者
李玉齐
Li Yuqi(School of Optical-electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)
出处
《农业装备与车辆工程》
2018年第12期62-66,共5页
Agricultural Equipment & Vehicle Engineering
