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Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]

The study proposes a modified Artificial Potential Field (APF) method integrated with the A* algorithm to enhance industrial robot path planning for obstacle avoidance. This approach addresses issues of local minima and unreachable targets within APF, mitigates the A* algorithm's poor real-time...

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Main Authors: -, Fan Rui, Ayub, Muhammad Azmi, Ab Patar, Mohd Nor Azmi, Che Abdullah, Sukarnur, Ahmat Ruslan, Fazlina
Format: Article
Language:English
Published: UiTM Press 2024
Subjects:
Kinematics
Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
Online Access:https://ir.uitm.edu.my/id/eprint/106408/1/106408.pdf
https://ir.uitm.edu.my/id/eprint/106408/
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spelling my.uitm.ir.1064082024-11-20T08:40:34Z https://ir.uitm.edu.my/id/eprint/106408/ Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.] jmeche -, Fan Rui Ayub, Muhammad Azmi Ab Patar, Mohd Nor Azmi Che Abdullah, Sukarnur Ahmat Ruslan, Fazlina Kinematics Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) The study proposes a modified Artificial Potential Field (APF) method integrated with the A* algorithm to enhance industrial robot path planning for obstacle avoidance. This approach addresses issues of local minima and unreachable targets within APF, mitigates the A* algorithm's poor real-time performance, and enhances obstacle avoidance success rates. Kinematic and workspace analyses of the robot utilize the Denavit-Hartenberg and Monte Carlo methods. The study analyses the principles and limitations of classical algorithms. The study introduces a modified APF algorithm to address issues of local minima and path oscillation, which is integrated with A* to guide movement towards the virtual target. After getting rid of local minima, the algorithm reverts to the APF method for further searching. Introducing a safe distance to restrict the repulsive field's influence resolves the issue of unreachable targets. Simulation results demonstrate that the modified algorithm efficiently plans obstacle-free paths in multi-obstacle environments, with target error controlled within 0.0121 m. UiTM Press 2024-11 Article PeerReviewed text en https://ir.uitm.edu.my/id/eprint/106408/1/106408.pdf Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]. (2024) Journal of Mechanical Engineering (JMechE) <https://ir.uitm.edu.my/view/publication/Journal_of_Mechanical_Engineering_=28JMechE=29/>, 13 (1): 18. pp. 315-335. ISSN 1823-5514 ; 2550-164X
institution Universiti Teknologi Mara
building Tun Abdul Razak Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Mara
content_source UiTM Institutional Repository
url_provider http://ir.uitm.edu.my/
language English
topic Kinematics
Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
spellingShingle Kinematics
Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
-, Fan Rui
Ayub, Muhammad Azmi
Ab Patar, Mohd Nor Azmi
Che Abdullah, Sukarnur
Ahmat Ruslan, Fazlina
Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]
description The study proposes a modified Artificial Potential Field (APF) method integrated with the A* algorithm to enhance industrial robot path planning for obstacle avoidance. This approach addresses issues of local minima and unreachable targets within APF, mitigates the A* algorithm's poor real-time performance, and enhances obstacle avoidance success rates. Kinematic and workspace analyses of the robot utilize the Denavit-Hartenberg and Monte Carlo methods. The study analyses the principles and limitations of classical algorithms. The study introduces a modified APF algorithm to address issues of local minima and path oscillation, which is integrated with A* to guide movement towards the virtual target. After getting rid of local minima, the algorithm reverts to the APF method for further searching. Introducing a safe distance to restrict the repulsive field's influence resolves the issue of unreachable targets. Simulation results demonstrate that the modified algorithm efficiently plans obstacle-free paths in multi-obstacle environments, with target error controlled within 0.0121 m.
format Article
author -, Fan Rui
Ayub, Muhammad Azmi
Ab Patar, Mohd Nor Azmi
Che Abdullah, Sukarnur
Ahmat Ruslan, Fazlina
author_facet -, Fan Rui
Ayub, Muhammad Azmi
Ab Patar, Mohd Nor Azmi
Che Abdullah, Sukarnur
Ahmat Ruslan, Fazlina
author_sort -, Fan Rui
title Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]
title_short Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]
title_full Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]
title_fullStr Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]
title_full_unstemmed Enhanced path planning for industrial robot: integrating modified artificial potential field and A* algorithm / Fan Rui ... [et al.]
title_sort enhanced path planning for industrial robot: integrating modified artificial potential field and a* algorithm / fan rui ... [et al.]
publisher UiTM Press
publishDate 2024
url https://ir.uitm.edu.my/id/eprint/106408/1/106408.pdf
https://ir.uitm.edu.my/id/eprint/106408/
_version_ 1817847219305316352
score 13.222552

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