改进人工势场法的机械臂避障路径规划  

Improved artificial field method on obstacle avoidance path planning for manipulator

作　　者：王俊龙[1] 张国良[1] 羊帆 敬斌[1] 

机构地区：[1]第二炮兵工程大学301教研室,西安710025 [2]宝鸡市150信箱11分箱23号

出　　处：《计算机工程与应用》2013年第21期266-270,共5页Computer Engineering and Applications

摘　　要：针对传统机械臂路径规划只适用于具有特殊构型的机械臂这一不足,提出在利用遗传算法等方法求解得到一组合理的关节值后,运用人工势场法在机械臂关节空间内搜索、采用合势能最速下降为控制标准的机械臂路径规划方法。同时利用在局部极小附近添加虚拟障碍,产生虚拟斥力势能的方法解决了局部极小问题,使机械臂成功绕过障碍到达目标。仿真验证了该方法的正确性和有效性。Aiming at the shortcoming of traditional method of path planning using merely on typical structure of mampula- tor, after the result of using a third way as genetic algorithm to get an ideal data, a new method of improved artificial method with combined potential energy steepest descent based on arthrosis space is proposed. Using the method of adding virtual obstacle in the minimum field to produce virtual potential energy in solving the problem of local minimum, the manipulator successfully achieves the goal avoiding the obstacle. The simulation results show that the proposed method is valid and effective in path plan- ning of manipulator.

关 键 词：改进人工势场法 合势能最速下降 机械臂 路径规划 虚拟障碍 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]