Path Planning of Manipulators with the Improved RRT Algorithm in Complex Environment

Path Planning of Manipulators with the Improved RRT Algorithm in Complex Environment

Aiming at the problems of the standard rapidly exploring random tree (RRT) algorithm in a complex environment, such as blind expansion, falling into local search, easy planning failure, low sampling success rate, and long paths, an adaptive goal-oriented strategy combined with an alternative strateg...

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Bibliographic Details
Main Authors: Zhou Qinyuan, Zhang Lei, Deng Yueping, Zhang Chen, Lu Rirong, Hu Xianzhe
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2024-09-01
Series:Jixie chuandong
Subjects:
Welding manipulator
Collision detection
Adaptive goal orientation
Alternative strategies for region sampling
Greedy pruning
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.09.003
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