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Comparative Study of Potential Field and Sampling Algorithms for Manipulator Obstacle Avoidance

Thematic Areas : Humanitarian-Robotics-HCI

Publisher : International Journal of Control Theory and Applications (IJCTA)

Campus : Amritapuri

Center : Ammachi labs

Year : 2016

Abstract : Industrial robots should be implemented with proper path planning to generate a trajectory which ensures obstacle avoidance and collision free movement. Selection of a path planning techniques need to be done only after detailed studies. This paper deals with the study and implementation of a path planning technique using potential fi eld method for a 2R robot in a given workspace with obstacles. The results are compared with Open Motion Planning Library (OMPL)which uses sampling based path planning algorithms in a similar context. It is found that in higher dimensionality spaces sampling algorithms are more useful and potential fi eld methods are handy in real time applications.

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