Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm

Haonan Ma; Zhian Zhang; Qingliang Li

doi:10.16578/j.issn.1004.2539.2021.06.012

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Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm

Design· Calculation | 更新时间：2022-11-10

- Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm
- Journal of Mechanical Transmission Vol. 45, Issue 6, Pages: 77-84(2021)
- 作者机构：
  
  1.南京理工大学机械工程学院，江苏南京 210094
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.06.012
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马豪男,张志安,黎晴亮.改进人工势场法的双机械臂路径规划算法[J].机械传动,2021,45(06):77-84.

Ma Haonan,Zhang Zhian,Li Qingliang.Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm[J].Journal of Mechanical Transmission,2021,45(06):77-84.
马豪男,张志安,黎晴亮.改进人工势场法的双机械臂路径规划算法[J].机械传动,2021,45(06):77-84. DOI： 10.16578/j.issn.1004.2539.2021.06.012.

Ma Haonan,Zhang Zhian,Li Qingliang.Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm[J].Journal of Mechanical Transmission,2021,45(06):77-84. DOI： 10.16578/j.issn.1004.2539.2021.06.012.

摘要

针对采用传统人工势场法对双机械臂系统进行路径规划时无法约束双机械臂整体位姿，容易陷入局部极值点的问题，对人工势场法进行改进。采用D-H法对双机械臂系统进行运动学分析，采用圆柱——半球体包络盒模型作为碰撞检测模型；构建新的势能函数对双机械臂系统规划路径；采用构建虚拟目标点的方法帮助机械臂逃离局部极值点。仿真实验表明，改进算法克服了人工势场法局部极小的缺点，实现了对双机械臂系统的路径规划。

Abstract

Aiming at the problem that the traditional artificial potential field method cannot constrain the overall posture of the dual manipulator system when planning the path of the dual manipulator system，and it is easy to fall into the local extreme point，the artificial potential field method is improved. Use the D-H method to analyze the kinematics of the dual-manipulator system，use the cylindrical-hemisphere bounding box model as the collision detection model. The construction of a new potential energy function dual-manipulator system is used to plan the path，use the method of constructing virtual target points to help the manipulator escape local extreme points. Simulation experiments show that the improved algorithm overcomes the shortcomings of local minima and realizes the path planning of the dual-manipulator system.

关键词

双机械臂系统路径规划人工势场法局部最小

Keywords

Dual manipulator systemPath planningArtificial potential field methodLocal minimum

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