Obstacle Avoidance Path Planning of Manipulator Based on Improved APF-Informed-RRT*
Aiming at the problem of informed-RRT∗algorithm lacks purpose and direction,has long plan-ning time and low iteration efficiency in the obstacle avoidance path planning.An obstacle avoidance plan-ning algorithm combining artificial potential field method and Informed-RRT∗ algorithm was proposed.Firstly,aiming at the problems of unreachable target points and collision with obstacles in original artificial potential field method,an improved artificial potential field method is proposed and integrated into the In-formed-RRT∗algorithm to make the random tree grow along the direction of potential field decline and en-hance its directivity.Secondly,according to the distance between the random tree and the obstacle,propose an adaptive growth step strategy to improve the ability of space exploration.Finally,the greedy algorithm is introduced to directly judge whether the random tree can reach the target point during growth,which im-proves the efficiency of path planning.The improved algorithm is compared with the traditional algorithm and its derived algorithm in two and three dimensional environments.Simulation results show that compared with original algorithm,the improved Informed-RRT∗ algorithm reduces the path length and plan time by 17.42%and 36.21%.
Informed-RRT∗artificial potential field methodadaptive step sizegreedy algorithmpath planning
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