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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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【Citations】
Chinese Journal Full-text Database 6 Hits
1 WANG Shou-kun;ZHU Lei;WANG Jun-zheng;Key Laboratory of Intelligent Control and Decision for Complex System,School of Automation,Beijing Institute of Technology;;Path Plan of 6-DOF Robot Manipulators in Obstacle Environment Based on Navigation Potential Function[J];北京理工大学学报;2015-02
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【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 ZHENG Yanhong;DENG Xiangjin;PENG Jing;YAO Meng;ZHAO Zhihui;Beijing Institute of Spacecraft System Engineering;;Lunar Surface Sampling Device Collision Avoidance Planning Based on Artificial Potential Field Method[J];中国空间科学技术;2015-06
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9 LU Wei;FAN Jin-hui;ZHANG Hong-rui;Department of Computer Engineering,Shijiazhuang Medical College;School of Electrical Engineering,Hebei University of Science and Technology;Department of Information Technology,Shijiazhuang Vocational Technology Institute;;An FGRBF-based mobile robot tracking control of neural network[J];石家庄职业技术学院学报;2015-04
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