Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT

Dynamic Obstacle Avoidance Path Planning of Dual-Manipulator based on APF-RRT

Aiming at the defect that the traditional artificial potential field method（APF） is easy to fall into the local minimum in the obstacle avoidance path planning of the 6-DOF dual-manipulator system，an improved APF algorithm combined with an improved rapidly-exploring random trees（RRT） algorithm is pr...

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Bibliographic Details
Main Authors: Peng Peng, Zhian Zhang, Xuegong Huang
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2022-04-01
Series:Jixie chuandong
Subjects:
Dual-manipulator
Artificial potential field
RRT
Path planning
Local minimum
Temporary target point
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.04.007

Internet

http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.04.007

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