Path Planning Algorithm for Manipulators in Complex Scenes Based on Improved RRT

• Published in: Sensors (Basel, Switzerland) Vol. 25; no. 2; p. 328
• Main Authors: Zhang, Xiqing, Wang, Pengyu, Guo, Yongrui, Han, Qianqian, Zhang, Kuoran
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 01.01.2025; MDPI
• Subjects: Algorithms; APF; Efficiency; Heuristic; path planning; Robotics; Robots; RRT; six-degree-of-freedom robotic arm; Trees; triangular inequalities; New Jersey; path planning; six-degree-of-freedom robotic arm; RRT; triangular inequalities; APF

Aiming at the problems of a six-degree-of-freedom robotic arm in a three-dimensional multi-obstacle space, such as low sampling efficiency and path search failure, an improved fast extended random tree (RRT*) algorithm for robotic arm path planning method (abbreviated as HP-APF-RRT*) is proposed. Th...