Research on intelligent obstacle avoidance path planning method for sampling arm of mobile coal sampler

doi:10.16731/j.cnki.1671-3133.2018.09.014

Abstract

Abstract: Propose a path planning method based on improving artificial potential field,aiming at solving the problem of intelligent obstacle avoidance path planning for coal sampling arm.According to the working characteristics of the sampling arm,a kind of characterization method of pose information is constructed,and a virtual simulation model between sampling arm and obstacle is established.Taking the sampling arm joint space as the search space,and the minimum potential energy as the objective function,the obstacle avoidance path planning is realized by improving the artificial potential field method.The joint limit,link collision and obstacle safety distance information were taken into account for the planning process.The algorithm sets a virtual slope to prevent planning from falling into local minimum.At last,the validity and feasibility of the proposed method are verified by simulation experiments.

Key words: artificial potential field, path planning, obstacle avoidance control, sampling arm

CLC Number:

TP242.3

Fu Xing, Xu Haibo, Wang Jun, Bai Zhidong, Li Hewei. Research on intelligent obstacle avoidance path planning method for sampling arm of mobile coal sampler[J]. Modern Manufacturing Engineering, 2018, 456(9): 70-75.

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