摘要
针对人工势场法在机械臂避障路径规划中容易陷入局部极小值的问题,提出了人工势场法与A^*算法相结合的路径规划方法。首先使用人工势场法控制机械臂沿合势场梯度下降方向运动,若陷入局部极小值,则采用A^*算法控制其运动到虚拟目标点以逃离局部极小值,然后再转换回人工势场法继续搜索直到抵达目标点。最终的仿真实验表明,改进方法可以成功规划出一条无碰撞的最优路径,并且对较复杂的工作环境具有较高的适应性。
Aiming at the problem that artificial potential field method is easy to fall into the local minimum in obstacle avoidance path planning of manipulator, this paper proposes a path planning algorithm based on artificial potential field method and A^* algorithm. Firstly, artificial potential field method controls the manipulator to move along the gradient descent direction of the resultant potential field. If the manipulator gets into the local minimum,A^* algorithm will be used to control its movement to the virtual target point to escape from the local minimum. Finally, it is converted to artificial potential field method to guide the manipulator to the target point. The final simulation experiments show that the improved algorithm can successfully plan a collision-free optimal path and have higher adaptability to more complex working environments.
作者
孙泾辉
朱毅
卢军
SUN Jinghui;ZHU Yi;LU Jun(College of Software Engineering,Chengdu University of Information Technology,Chengdu 610225,China)
出处
《成都信息工程大学学报》
2019年第3期263-266,共4页
Journal of Chengdu University of Information Technology
关键词
机械臂
人工势场法
A^*算法
避障路径规划
虚拟目标点
manipulator
artificial potential field method
A^* algorithm
obstacle avoidence path planning
virtual target point
