Dynamic path planning of intelligent robot in power equipment maintenance environment

Abstract

Aiming at the problem that the traditional path planning algorithm does not have real-time planning performance in the dynamic and complex power equipment maintenance environment, or it is challenging to avoid dynamic obstacle obstacles due to poor real-time version, this paper proposes an artificial potential field method for real-time planning. The characteristics of dynamic obstacle in a dynamic complex environment, the dynamic obstacles are simplified as moving particles, and the repulsion function of the dynamic obstacles is added to avoid the collision. Within the influence range of dynamic obstacles in a busy complex environment, the robot avoids the dynamic obstacles through real-time local path planning under the influence of the repulsive force of the dynamic obstacle to reach the target point. At the same time, aiming at the problems of unevenness and fluctuation of the path generated by the traditional artificial potential field method, the non-uniform rational B-spline and moving average filtering algorithm are used to improve the local path planning algorithm of the conventional artificial potential field, and the generated path is smoother and smoother than the traditional algorithm.

Keywords

• Dynamic obstacle
• The method of the artificial potential field
• Real-time planning
• Obstacle avoidance path planning