Evaluation of an Artificial Potential Field Method in Collision-free Path Planning for a Robot Manipulator

M. Elahres, A. Fonte, G. Poisson

2021

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 R2020b 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.

Paper Citation

in Harvard Style

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 - Volume 1: ROBOVIS, ISBN 978-989-758-537-1, pages 92-102. DOI: 10.5220/0010652800003061

in Bibtex Style

@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 - Volume 1: ROBOVIS,},
year={2021},
pages={92-102},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010652800003061},
isbn={978-989-758-537-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: 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