Improved cubic B-spline curve method for path optimization of manipulator obstacle avoidance

Abstract

Aiming at the special path points problem and the jitter problem caused by the first-order discontinuity in the straight-line connection of the generated route points during path planning, this paper proposes an Artificial Potential Field (APF) method and an improved cubic B-spline optimization method to avoid obstacle during the manipulator motion. The APF method is used to generate a series of intermediate path points, while the traditional cubic B-spline method is used to conquer the problem of jitter and connect these path points smoothly. Later, the cubic B-spline curve is improved to pass through some important specified path points when required. The simulation diagram verifies the feasibility of the proposed algorithm.