Interactive Heuristic D* Path Planning Solution Based on PSO for Two-Link Robotic Arm in Dynamic Environment

摘要

This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains, since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers, so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology for obtaining robot interactive path planning solution in known dynamic environment utilizes the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique. Also, a modification on the D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the final path length optimality, the PSO technique was used. The simulation results are given to show the effectiveness of the proposed method.