Virtual target point-based obstacle-avoidance method for manipulator systems in a cluttered environment

• Published in: Engineering optimization Vol. 52; no. 11; pp. 1957 - 1973
• Main Author: Long, Zhang
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 01.11.2020; Taylor & Francis Ltd
• Subjects: Cartesian coordinates; Manipulator system; Obstacle avoidance; Potential fields; rapidly exploring random tree; System effectiveness; velocity potential field; virtual target points

This article presents an obstacle-avoidance method for manipulator systems working in a cluttered environment. Based on the concept of the artificial potential field, a velocity potential field method is proposed, with the attractive velocity function designed in configuration space and the repulsiv...