基于速度场的人工势场法机械臂动态避障研究

史亚飞; 张力; 刘子煊; 吕一平

doi:10.16578/j.issn.1004.2539.2020.04.006

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基于速度场的人工势场法机械臂动态避障研究

理论研究 | 更新时间：2022-10-20

- 基于速度场的人工势场法机械臂动态避障研究
- Research of Dynamic Obstacle Avoidance of Manipulator based on Artificial Potential Field Method of Velocity Field
- 机械传动 2020年44卷第4期页码：38-44
- 作者机构：
  
  1.兰州理工大学机电工程学院，甘肃兰州 730050
- 作者简介：
  
  史亚飞（1993— ），男，甘肃陇西人，硕士研究生，研究领域为工业机器人。
  张力（1964— ），女，甘肃兰州人，教授，硕士研究生导师，研究方向为工业机器人。
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.04.006
  中图分类号：
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史亚飞,张力,刘子煊等.基于速度场的人工势场法机械臂动态避障研究[J].机械传动,2020,44(04):38-44.

Shi Yafei Zhang Li Liu Zixuan Lü Yiping.Research of Dynamic Obstacle Avoidance of Manipulator based on Artificial Potential Field Method of Velocity Field[J].Journal of Mechanical Transmission,2020,44(04):38-44.
史亚飞,张力,刘子煊等.基于速度场的人工势场法机械臂动态避障研究[J].机械传动,2020,44(04):38-44. DOI： 10.16578/j.issn.1004.2539.2020.04.006.

Shi Yafei Zhang Li Liu Zixuan Lü Yiping.Research of Dynamic Obstacle Avoidance of Manipulator based on Artificial Potential Field Method of Velocity Field[J].Journal of Mechanical Transmission,2020,44(04):38-44. DOI： 10.16578/j.issn.1004.2539.2020.04.006.

摘要

为了提高机械臂在动态避障时的安全性和精确性，提出一种基于速度场的人工势场避碰算法。首先，建立吸引速度场，得到机械臂对运动目标追踪的轨迹；然后，结合危险场法构建排斥速度场，使机械臂可以在多障碍物的环境下实现动态避障和安全性评估；最后，针对人工势场法易陷局部最小值的问题，提出在和速度的法方向添加附加速度的方法逃逸局部最小值。利用Matlab Robotics Tool对算法进行了验证，结果表明，基于速度场的人工势场法可实现机械臂的动态目标的追踪、移动障碍物避碰和安全性评估。

Abstract

In order to improve the safety and accuracy of the manipulator in dynamic obstacle avoidance，an artificial potential field collision avoidance algorithm based on velocity field is proposed.Firstly，the attracted velocity field is established to obtain the trajectory of the manipulator tracking the moving target.Then，the repulsive velocity field is constructed by combining the danger field method，so that the manipulator can realize dynamic obstacle avoidance and safety assessment in the multi-obstacle environment.Finally，aiming at the problem that the artificial potential field method is easy to fall into the local minimum，the method of adding additional velocity in the normal direction of sum velocity is proposed to escape the local minimum value.The algorithm is validated by using Matlab Robotics Tool.The results show that the artificial potential field method based on velocity field can realize dynamic target tracking，move obstacle avoidance and safety evaluation of the manipulator.

关键词

动态避障人工势场法危险场机械臂

Keywords

Dynamic obstacle avoidanceArtificial potential field methodDanger fieldManipulator

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