Research on obstacle avoidance motion planning method of manipulator in complex multi scene

In order to improve the efficiency and success rate of obstacle avoidance motion planning industrial manipulator in complex multi scenes, a collision detection model between obstacles based on cylinder sphere bounding box is established, an improved RRT * algorithm heuristic probability fusion artificial potential field method(P-artificial , PAPF-RRT ) proposed. The target bias random sampling point optimization strategy are introduced into sampling, location constraints applied points enhance guidance quality. change expansion direction traditional new node local problem special environment, gravity, repulsion adaptive step size method combined, so that can guide real time within resultant force range generated by APF, reducing excessive exploration region. Cubic B-spline used interpolate optimize planned path reduce complexity flexibility path. simulation results two-dimensional three-dimensional scenes show present reduces average search 31.22% shortens length 17.32% comparing with algorithm. visual make successfully avoid run quickly smoothly.