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《Agricultural Equipment & Vehicle Engineering》 2018-12
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3D Obstacle Avoidance Path Planning for Manipulator Based on A~* Mixed with Potential Field Method

Li Yuqi;School of Optical-electrical and Computer Engineering, University of Shanghai for Science and Technology;  
In view that the manipulator end is easy to get into local minimum, using artificial potential field method in 3D 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 in 3D obstacle avoidance path planning.
【CateGory Index】: TP241
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