Publication Type:

Journal Article

Source:

International Journal of Control Theory and Applications (IJCTA), Volume 9, Issue 33, p.71-78 (2016)

URL:

https://pdfs.semanticscholar.org/4111/014135c15b1b5905ef22e6a5109f63d305db.pdf

Keywords:

manipulator, OMPL, Path Planning, potential fi eld method, ROS, sampling algorithms

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.

Cite this Research Publication

A. V, ES, R., and Rao R. Bhavani, “Comparative Study of Potential Field and Sampling Algorithms for Manipulator Obstacle Avoidance In Robot Work Space”, International Journal of Control Theory and Applications (IJCTA), vol. 9, no. 33, pp. 71-78, 2016.