Lianhao Zhang, Zhenyu Liu, and Xiaohong Qin
Multi-DOF manipulator, path planning, obstacle avoidance, collision detection
The problems of path planning and obstacle avoidance for a multiple- degrees-of-freedom manipulator have gradually gained importance in this field. Several studies have classified the standards of measurement algorithms into 14 evaluative categories according to time consumption, path length, accuracy, effectiveness, success rate, energy consumption, and other aspects. The relationship between them is illustrated based on statistics and analysis. And the application algorithms for the implementation of main evaluation standards are effectively discussed herein along with their advantages and disadvantages. Further, suggestions are provided to solve problems related to the diversification of measurement standards, hybrid, and intelligent algorithmic research, obstacle analysis in scenes, application of different degrees-of-freedom to a manipulator, simulation and verification, structural considerations, and collision detection. This study provides a systematic review of recent research on path planning and obstacle avoidance for the manipulator. It could be useful for the design and application of relevant intelligent algorithms in the future.
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