Simulation and experiment on obstacle avoidance control of concrete pump truck boom based on improved danger field and gradient projection method

Aiming at the shortcomings of the traditional robot obstacle avoidance algorithm applied directly to the leader-follower task transformation of concrete pump truck boom, an algorithm combined with improved danger field and improved gradient projection method for obstacle avoidance control of the boom is proposed. In the method, a joint limit avoidance function is used to avoid the angle overrun of the boom joints. And the danger field expression is modified to improve its engineering suitability. Moreover, a smoothing adjustment factor is introduced to improve the smoothness of the leader-follower task transformation of the boom. The influence of key control parameters on the safety and accuracy of boom movement is dis-cussed through the simulation, and the reasonable ranges of the parameters are given. Furthermore, experiments are carried out to verify the effectiveness of the algorithm. The method provides a solution for obstacle avoidance control of construction machinery with multijoint series boom.