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Authors: M. Elahres ; A. Fonte and G. Poisson

Affiliation: PRISME Laboratory, University of Orléans - INSA Centre-Val de Loire, Orléans, France

Keyword(s): Collision-free Local Path Planning, Artificial Potential Field, Hollow Cylindrical Obstacle Avoidance, Position and Orientation Path Planning, Virtual Force and Torque-based Reactive Control.

Abstract: Path planning with obstacle avoidance has been a major challenge in robotic manipulators which are composed of multiple links especially in the case of complex-shaped obstacles. This paper proposes an improved collision-free path planning algorithm based on the Artificial Potential Field (APF) method to obtain a collision-free path from initial to a desired position and orientation. Firstly, the robot is modelled by the Denavit-Hartenberg DH parameter method. Secondly, the artificial attractive and repulsive force field equations are derived in the case of both spherical and hollow cylindrical obstacles. Then, a poly-articulated cylindrical model for the robot is used for collision detection between all its links and the obstacle. Finally, a virtual torque is generated based on the forces affecting the robot links to produce a suitable motion to approach the final target without collision with the obstacle. The algorithm is evaluated by building a simulation platform using MATLAB R20 20b and Robotic Toolbox. Various simulations on the UR5 robot show that the proposed algorithm can plan a free-collision path in the 6D operational space. The simulations also show that the algorithm has a low computational cost, so it can be used for real-time applications. (More)

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Paper citation in several formats:
Elahres, M.; Fonte, A. and Poisson, G. (2021). Evaluation of an Artificial Potential Field Method in Collision-free Path Planning for a Robot Manipulator. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS; ISBN 978-989-758-537-1, SciTePress, pages 92-102. DOI: 10.5220/0010652800003061

@conference{robovis21,
author={M. Elahres. and A. Fonte. and G. Poisson.},
title={Evaluation of an Artificial Potential Field Method in Collision-free Path Planning for a Robot Manipulator},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS},
year={2021},
pages={92-102},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010652800003061},
isbn={978-989-758-537-1},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS
TI - Evaluation of an Artificial Potential Field Method in Collision-free Path Planning for a Robot Manipulator
SN - 978-989-758-537-1
AU - Elahres, M.
AU - Fonte, A.
AU - Poisson, G.
PY - 2021
SP - 92
EP - 102
DO - 10.5220/0010652800003061
PB - SciTePress

- Science and Technology Publications, Lda.
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