Research Article
Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method
Table 5
Comparison of data between two planning methods for an obstacle.
| | S/N | | [rad] | [m] | Extreme point? |
| | 1 | 44 (45) | 3.5500 (3.5500) | 1.4616 (1.5082) | No (No) | | 2 | 52 (53) | 4.2412 (4.2097) | 1.3254 (1.5204) | No (No) | | 3 | 44 (46) | 3.6757 (3.6128) | 1.4493 (1.4825) | No (No) | | 4 | 51 (56) | 3.8642 (4.0527) | 1.4639 (1.5969) | No (No) | | 5 | 48 (48) | 3.2358 (3.3615) | 1.5348 (1.5828) | No (No) | | 6 | 50 (54) | 3.8327 (4.0527) | 1.5411 (1.4013) | No (No) |
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The corresponding histogram is shown in Figures 6– 8. |
