Path planning for robotic manipulators via bubbles of free configuration space: Evolutionary approach

Ademovic, Adnan; Lačević, Bakir

doi:10.1109/med.2014.6961559

Cited by 5 publications

(1 citation statement)

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“…8 Each point in it uniquely represents one position of the robot, for example, the position and orientation of a mobile robot or the joint angles of an industrial manipulator. 9 This method is generally utilized to avoid stationary obstacles. 10 (3) Grid modeling Grid method uses grid to be units of environmental information during path planning, and environment is quantified as grid having a certain resolution.…”

Section: School Of Mechanical and Automotive Engineering South China University Of Technology Guangzhou Chinamentioning

confidence: 99%

A novel non-collision trajectory planning algorithm based on velocity potential field for robotic manipulator

Zhai

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a non-collision trajectory planning algorithm in three-dimensional space based on velocity potential field for robotic manipulators, which can be applied to collision avoidance among serial industrial robots and obstacles, and path optimization in multi-robot collaborative operation. The algorithm is achieved by planning joint velocities of manipulators based on attractive, repulsive, and tangential velocity of velocity potential field. To avoid oscillating at goal point, a saturated function is suggested to the attractive velocity potential field that slows down to the goal progressively. In repulsive velocity potential field, a spring damping system is designed to eliminate the chattering phenomenon near obstacles. Moreover, a fuzzy logic approach is used to optimize the spring damping coefficients for different velocities of manipulators. Different from the usual tangential velocity perpendicular to the repulsive velocity vector for avoiding the local minima problem, an innovative tangential velocity potential field is introduced that is considering the relative position and moving direction of obstacles for minimum avoidance path in three-dimensional space. In addition, a path priority strategy of collision avoidance is taken into account for better performance and higher efficiency when multi-robots cooperation is scheduled. The improvements for local minima and oscillation are verified by simulations in MATLAB. The adaptabilities of the algorithm in different velocities and priority strategies are demonstrated by simulations of two ABB robots in Robot Studio. The method is further implemented in an experimental platform with a SCARA and an ABB robot cooperation around a stationary obstacle and a moving object, and the result shows real time and effectiveness of the algorithms.

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Section: School Of Mechanical and Automotive Engineering South China University Of Technology Guangzhou Chinamentioning

confidence: 99%