Multiple mobile-obstacle avoidance algorithm for redundant manipulator

In order to overcome the shortcomings of the previous obstacle avoidance algorithms, an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed. The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator. The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning. A 7-DOF manipulator was used in the simulation, and the results verified the effectiveness of the algorithm.