Optimal Path Planning Obstacle Avoidance of Robot Manipulator System using Bézier Curve

Arif A. AL-Qassar, Ali N. Abdulnabi


One of the problem that faced by engineers in most automated factories that require the need to move things from one place to another in an automated space with obstacles on its way the shortest route and the least time it takes to reach the goal. This paper presents an optimal path planning of 5DOF Lab-Volt 5250 robot manipulator joints and gripper to move from the given start point to the desired goal point without any collision with the obstacles whose boundaries are enveloped by a spherical shape, the size and the height of the obstacle is taken into account. The path planning approach presented is suggested in the robot joint space by using Bézier curve technique. The particle swarm optimization PSO method is used to get the optimal path with the shortest distance and the least time to move the end-effector from the initial point to the final point without hitting any obstacles which exist in the robot environment. This work is not  limited to theoretical studies or simulations, but several experiments cases were tested in different situations in a static environment known to test the robot's arm's ability to reach the desired target without hitting any obstacles with the shortest distance  and least time.


Path Planning; obstacle avoidance; Bézier curve; particle swarm optimization.

Full Text:



Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, "Robot Modeling and Control", 1st Edition, John Wiley & Sons, 2005.

Nof S," Handbook of Industrial Robotics", John Wiley & Sons, Inc, USA 1999.

J. Angeles, "Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms", 2nd Edition, Springer, 2003.

L. Blackmore and B. Williams, “Optimal Manipulator Path Planning With Obstacles Using Disjunctive Programming,” American Control Conference, no. 1, pp. 4–6, 2006.

S. Mitsi, K.-D. Bouzakis, D. Sagris, and G. Mansour, “Robot Path Planning Optimization, Free of Collisions, Using A Hybrid Algorithm,” no. October, pp. 1–3, 2008.

Z. D. Hussein, M. Z. Khalifa, I. S. Kareem, “Optimize Path Planning for Medical Robot in Iraqi Hospitals,” Engineering and Technology Journal, vol. 33, no. 5, pp. 1009–1022, 2015.

A. Casalino, A. M. Zanchettin, and P. Rocco, “Online Planning Of Optimal Trajectories on Assigned Paths with Dynamic Constraints for Robot Manipulators,” IEEE International Conference on Intelligent Robots and Systems (IROS), vol. 2016–November, pp. 979–985, 2016.

A. Mohamed, J. Ren, H. Lang, and M. El-Gindy, “Optimal Collision Free Path Planning For An Autonomous Articulated Vehicle With Two Trailers,” IEEE international conference industrial technology, pp. 860–865, 2017.

J. w. choi, R. E. Curry and G. H. Elkaim, "Continuous Curvatures Path Generation Based on Bezier Curves for Autonomous Vehicle", International journal of applied mathematics, Vol .40, No.2, pp. 91–102, 2010.

M. Abbas, E. Jamal and J.M. Ali," Bezier Curve Interpolation Constrained By Line", Applied Mathematical Science, Vol.5, No.37, and pp. 1817-1832, 2011.

V. Hlavac, “Manipulator Trajectory Planning”, Czech Technical University in Prague, 2006. Available at http://cmp.felk.cvut.cz/~hlavac.

L. Wang, Y. Liu, and H. Deng, “Obstacle-avoidance Path Planning for Soccer Robots Using Particle Swarm Optimization,” International Conference on Robotics and Biomimetic, no. 1, 2006.


  • There are currently no refbacks.

Comments on this article

View all comments




About ASRJETS | Privacy PolicyTerms & Conditions | Contact Us | DisclaimerFAQs 

ASRJETS is published by (GSSRR).