Obstacles Avoidance for an Articulated Robot Using Modified Smooth Path Planning

摘要

This article satisfies obstacle avoidance based on modified path-planning for an articulated robot under limited knowledge environment. The knowledge from the environment can be obtained using local range sensors mounted on the robot. The modification of the A-star algorithm is presented as the basis approach for a new smooth path-planning. A three-circle zone concept is proposed to generate a free collision path with minimum length. The corresponding kinematic model is being specified to produce lateral and longitudinal as a control signals under the limitations of the robot dynamic constraints. The kinematic model of the articulated robot is calculated and derived to use it in the motion planning. Motion behavior between the initial and the destination points under unavailable map of environment with low computation cost are presented. A method for nonholonomic smooth motion planning for articulated robot is established by using MATLAB. Simulate results showed the smoothness and shortest way to drive the robot over such path.