Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-87-2023
https://doi.org/10.5194/ms-14-87-2023
Research article
 | 
24 Feb 2023
Research article |  | 24 Feb 2023

Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot

Quansheng Jiang, Kai Cai, and Fengyu Xu

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Experiment and Best Practice
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Cited articles

Ahmed, A., Maged, A., Soliman, A., El-Hussieny, H., and Magdy, M.: Space deformation based path planning for Mobile Robots, ISA Transactions, 126, 666–678, https://doi.org/10.1016/j.isatra.2021.08.019, 2022. 
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Cheng, Z., Zhang, Z., Li, J., and Jiang, T.: Mobile robot path planning based on improved artificial potential field, Comput. Eng. Appl., 55, 29–34, https://doi.org/10.3778/j.issn.1002-8331.1904-0472, 2019. 
Cong, M., Zhao, S., Liu, D., and Du, Yu.: Handoff location selecting and path planning for dual-arm robot, J. Huazhong Univ. Sci., 48, 1–6, https://doi.org/10.13245/j.hust.200901, 2020. 
Contreras-Cruz, M. A., Ayala-Ramirez, V., and Hernandez-Belmonte, U. H.: Mobile robot path planning using artificial bee colony and evolutionary programming, Appl. Soft Comput., 30, 319–328, https://doi.org/10.1016/j.asoc.2015.01.067, 2015. 
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Short summary
Traditional path-planning algorithms for bending robots are often a sequence of multiple line segments and an unsmoothed curve, which causes a discontinuous robot motion. A smooth path can ensure continuous motion. We propose an improved artificial potential field-based path-planning method based on the idea of a rapidly exploring random tree (RRT) algorithm, reducing the length of and smoothing the path, thus solving the path-planning problem of a multi-degrees-of-freedom (DOF) bending robot.