Research Article
Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method
Table 7
Comparison of data between two planning methods for three or more obstacles.
| | S/N | | [rad] | [m] | Extreme point? |
| | 1 | 78 (105) | 6.5973 (8.9850) | 1.5905 (2.2011) | No (Yes) | | 2 | 84 (150) | 6.6602 (12.4093) | 1.6221 (2.7519) | Yes (Yes) | | 3 | 91 () | 6.6403 () | 1.7230 () | No () | | 4 | 114 (130) | 6.8801 (10.4301) | 1.8434 (2.1753) | Yes (Yes) | | 5 | () | () | () | () | | 6 | 143 () | 7.2257 () | 1.7650 () | Yes () |
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The corresponding histogram is shown in Figures 12– 14, where the graph reaching the maximum represents . |
