Obstacle avoidance path planning for manipulator based on variable-step artificial potential method

To escape from the local minimum point of the traditional artificial potential field method, a variable-step artificial potential field method is proposed. Using sphere-cylinder enveloping collision detection method, the problem of collision detecting can be transformed to the detection of the position between a sphere and a cylinder. Then, by modifying potential functions and variable-step segment search method in the joint space, the manipulator can avoid the obstacle and reach the destination. The simulation results show that the proposed method is effective.