Overcoming Dynamic Environments: A Hybrid Approach to Motion Planning for Manipulators

原文アブストラクト

Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but struggle with complex constraints and local minima, leading to suboptimal performance in cluttered spaces. Traditional approaches rely on pre-planned trajectories, but frequent recomputation is computationally expensive. This study proposes a hybrid motion planning approach, integrating an improved VPF with a Sampling-Based Motion Planner (SBMP). The SBMP ensures optimal path generation, while VPF provides real-time adaptability to dynamic obstacles. This combination enhances motion planning efficiency, stability, and computational feasibility, addressing key challenges in uncertain environments such as warehousing and surgical robotics.