Dynamic Obstacle Avoidance Planning for Manipulators of Home

Abstract

With the maturity of robotics and serious aging situation, home service robots have been prevailing around the world, which requires the robotic arm of home service robots to be flexible for obstacle avoidance to work in complex and changing home environment. Based on the actual requirements of home service robots, this paper proposes an obstacle avoidance planning algorithm based on improved artificial potential field method for dynamic obstacle avoidance of redundant manipulators. The velocity of the target object and obstacle were introduced into the end-planned field structure to plan a collision-free path for the end of the arm and track the dynamic target point. Meanwhile, the deviation speed of the arm member in the obstacle repulsive field was added to ensure obstacle avoidance. Finally, the effectiveness of the algorithm was verified in the simulation environment.