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An Efficient Approach for Collision-Free Trajectory Planning Using Adaptive Velocity Vector Field Algorithm

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Advances in Mechanical Design (ICMD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 55))

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Abstract

This paper presents a novel collision-free trajectory planning algorithm, which is based on the Artificial Potential Field method, to acquire the via point and velocity of the manipulator from starting point to goal point while avoiding obstacles in the manipulator’s Cartesian space. To begin with, an overview of the collision-free trajectory planning algorithm is given. Then, to acquire more stable joint velocity for the manipulator while avoiding the obstacles, an exponentially changing Velocity Vector Field (VVF) algorithm has been proposed. Furthermore, sliding mode Variable Structure Control (VSC) method is implemented to make the presented algorithm more adaptive, at the same time, the distance between the manipulator and the obstacle could be better adjusted when there is variation in the manipulator’s velocity. The effectiveness of the proposed algorithm has been confirmed by both the simulation and experimental results.

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Acknowledgements

This project is supported by Guangdong provincial science and technology project 2014B090920001.

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Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, 510640, China

    Jingmei Zhai, Kun Liu, Haiyang He & Fan Ouyang

Authors
  1. Jingmei Zhai
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  2. Kun Liu
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  3. Haiyang He
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  4. Fan Ouyang
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Corresponding author

Correspondence to Jingmei Zhai .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Jianrong Tan

  2. Shanghai Jiao Tong University , Shanghai, China

    Feng Gao

  3. Beijing Institution of Technology, Beijing, China

    Changle Xiang

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Zhai, J., Liu, K., He, H., Ouyang, F. (2018). An Efficient Approach for Collision-Free Trajectory Planning Using Adaptive Velocity Vector Field Algorithm. In: Tan, J., Gao, F., Xiang, C. (eds) Advances in Mechanical Design. ICMD 2017. Mechanisms and Machine Science, vol 55. Springer, Singapore. https://doi.org/10.1007/978-981-10-6553-8_77

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  • DOI: https://doi.org/10.1007/978-981-10-6553-8_77

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6552-1

  • Online ISBN: 978-981-10-6553-8

  • eBook Packages: EngineeringEngineering (R0)

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