关键词: L1距离, 机器人, 人工势函数, 无碰撞路径规划

Abstract: The characteristics and the algorithm for computing the L, distance between 3-D convex polyhedra are investigated. On this basis, an artificial potential field approach for robot collision-free path planning is developed with the potential function being constructed by utilizing the L1 distance. The effectiveness of the proposed approach is demonstrated by an example of path planning for the Cartesian robot in 2-D space with graphics simulation.

Key words: Artificial potential field, Collision-free path, planning L1 distance, Robot