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A Novel Path Planning Method Based on Regional Index Algorithm for Hyper-redundant Manipulator

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

Given a large amount of calculation in the traditional path planning algorithm and the inability to control the distance between the path and the obstacle, a path planning method based on a regional index is proposed in this paper. First, by comparing the three methods of measuring distance, the characteristics of the regional index method are outlined, and how to divide regions and the corresponding regional indicators are outlined. Secondly, the potential energy distribution maps by use of the traditional method and the regional index method respectively are analyzed, and the regional indicators method can be used to plan the path artificially. Finally, through simulation, four paths are obtained applying two artificial potential field methods and two regional index methods. By comparing the characteristics of these four paths, it is found that the regional index method can guarantee the distance between the path and the obstacle very well, which verifies the effectiveness of the method.

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Author information

Authors and Affiliations

  1. Beijing Institute of Precision Mechatronics and Controls, Beijing, 100076, China

    Longfei Jia, Yaxing Guo, Yunfei Tao, He Cai, Tianhua Fu & Yuping Huang

  2. Laboratory of Aerospace Servo Actuation and Transmission, Beijing, 100076, China

    Longfei Jia, Yaxing Guo, Yunfei Tao, He Cai, Tianhua Fu & Yuping Huang

Authors
  1. Longfei Jia
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  2. Yaxing Guo
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  3. Yunfei Tao
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  4. He Cai
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  5. Tianhua Fu
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  6. Yuping Huang
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Corresponding author

Correspondence to Yuping Huang .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Cite this paper

Jia, L., Guo, Y., Tao, Y., Cai, H., Fu, T., Huang, Y. (2021). A Novel Path Planning Method Based on Regional Index Algorithm for Hyper-redundant Manipulator. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_61

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_61

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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