A Novel Path Planning Method Based on Regional Index Algorithm for Hyper-redundant Manipulator

Given a large amount of calculation in the traditional path planning algorithm and the inability to control the distance between the path and the obstacle, a path planning method based on a regional index is proposed in this paper. First, by comparing the three methods of measuring distance, the characteristics of the regional index method are outlined, and how to divide regions and the corresponding regional indicators are outlined. Secondly, the potential energy distribution maps by use of the traditional method and the regional index method respectively are analyzed, and the regional indicators method can be used to plan the path artificially. Finally, through simulation, four paths are obtained applying two artificial potential field methods and two regional index methods. By comparing the characteristics of these four paths, it is found that the regional index method can guarantee the distance between the path and the obstacle very well, which verifies the effectiveness of the method.