Obstacle Avoidance Path Planning of Space Manipulator Based on Improved Artificial Potential Field Method

Liu, S.; Zhang, Q.; Zhou, Dongsheng

doi:10.1007/s40032-014-0099-z

Cited by 31 publications

(18 citation statements)

References 11 publications

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“…APFM is a method based on the local environmental information, which generate the motion path of the robotic end effector through determining the position increment of the end effector according to the direction of the resultant force of attraction and repulsion defined by the target and the obstacle [93]. Bounini et al [94] summarized the related works of the APFM, and concluded that the traditional method can be easily performed and has the high real-time performance when utilized to the navigation of the mobile robot, but has disadvantages as follows: (1) Under the case of many obstacles, the path search is highly possible to fall into the local minimum, causing the pheromone of robotic oscillation or stagnation; (2) We need to define the minimum distance between the robot and each obstacle to detect the collision and also predict the potential danger in real time.…”

Section: Artificial Potential Field Methodsmentioning

confidence: 99%

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

Zhang

Liu

et al. 2019

IEEE Access

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In most existing bolt assembling operations, the human-machine collaboration (HMC) is used to guarantee both the operational efficiency and the connection quality. However, the huge labor intensity and costs are still needed when there exist bolts with huge quantity and multiple models in some special working environments, for example locomotive maintenance and automobile assembly. Actually, the robotic application can better solve the above problem. The main reason why this application is limited in the bolt assembly is due to the technological barriers related to the intelligent control. This paper firstly introduces the HMC-based and the robot-guided bolt assembly processes in detail, then summarizes the latest researches related to the significant technologies needed in the robot-guided assembly to show their present status and future trends. Finally based on the technology limitations this paper further presents some suggestions for future studies of each technology, which attempts to help readers broaden their research thoughts and speed up the development of the robot-guided bolt assembly.INDEX TERMS Automatic bolt assembly, robotic application, technological barrier, intelligent control.

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Section: Artificial Potential Field Methodsmentioning

confidence: 99%

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

Zhang

Liu

et al. 2019

IEEE Access

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“…The computation times n in OEM is proportional to the number of envelopes. And m is proportional to the number of cells holding a non-zero certainty value in a 2D Cartesian grid [19] [20], or is proportional to the integration points in the model using lines as the primitive [22] [23] [24]. Obviously, this condition can be satisfied on most occasions.…”

Section: Simulationmentioning

confidence: 99%

Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling

Lin

et al. 2016

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Purpose This paper aims to investigate the collision avoidance problem for a mobile robot by constructing an artificial potential field (APF) based on geometrically modelling the obstacles with a new method named the obstacle envelope modelling (OEM). Design/methodology/approach The obstacles of arbitrary shapes are enveloped in OEM using the primitive, which is an ellipse in a two-dimensional plane or an ellipsoid in a three-dimensional space. As the surface details of obstacles are neglected elegantly in OEM, the workspace of a mobile robot is made simpler so as to increase the capability of APF in a clustered environment. Findings Further, a dipole is applied to the construction of APF produced by each obstacle, among which the positive pole pushes the robot away and the negative pole pulls the robot close. Originality/value As a whole, the dipole leads the robot to make a derivation around the obstacle smoothly, which greatly reduces the local minima and trajectory oscillations. Computer simulations are conducted to demonstrate the effectiveness of the proposed approach.

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“…C-space method 16 can realize path planning and obstacle avoidance, but the calculation is complex and trajectory searching requires a long time, causing that the method could not meet real-time requirement. Artificial potential field method 17 is simple and widely used, but it is easily trapped to local minima, resulting in task failures. Gradient projection method 18 is not universal and may not be suitable to be applied in nonredundant manipulators.…”

Section: Introductionmentioning

confidence: 99%

Path planning method with obstacle avoidance for manipulators in dynamic environment

Chen

Dan

Wang

et al. 2018

International Journal of Advanced Robotic Systems

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Obstacle avoidance is of great importance for path planning of manipulators in dynamic environment. To help manipulators successfully perform tasks, a method of path planning with obstacle avoidance is proposed in this article. It consists of two consecutive phases, namely, collision detection and obstacle-avoidance path planning. The collision detection is realized by establishing point-cloud model and testing intersection of axis-aligned bounding boxes trees, while obstacleavoidance path planning is achieved through preplanning a global path and adjusting it in real time. This article has the following contributions. The point-cloud model is of high resolution while the speed of collision detection is improved, and collision points can be found exactly. The preplanned global path is optimized based on the improved D-star algorithm, which reduces inflection points and decreases collision probability. The real-time path adjusting strategy satisfies the requirement of reachability and obstacle avoidance for manipulators in dynamic environment. Simulations and experiments are carried out to evaluate the validity of the proposed method, and the method is available to manipulators of any degree of freedom in dynamic environment.

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Obstacle Avoidance Path Planning of Space Manipulator Based on Improved Artificial Potential Field Method

Cited by 31 publications

References 11 publications

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

A Review on Significant Technologies Related to the Robot-Guided Intelligent Bolt Assembly Under Complex or Uncertain Working Conditions

Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling

Path planning method with obstacle avoidance for manipulators in dynamic environment

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