Improved RRT-Connect algorithm based on reverse rewiring for manipulator path planning
In order to solve the problems of long path cost,excessive number of effective nodes and uneven twists and turns in complex unstructured environment,an improved RRT-Cconnect algorithm based on reverse rewiring is proposed.Firstly,a collision detection function is added to the starting position of the algorithm,which can quickly generate a path when there is no obstacle between the starting point and the ending point.Secondly,through the measures of reverse rewiring of the generated path,the nodes in the generated path are re-screened and routed,so as to shorten the length of the generated path and reduce the number of effective nodes.Finally,a smooth and continuous path is obtained by fitting the generated path with B-spline curve.The experimental re-sults show that the planning time of the improved RRT-Connect algorithm is 52.14％and 98.53％less than that of RRT and RRT*-smart algorithms,respectively,and the path cost is reduced by 19.39％and 17.15％.The advantages of the improved-RRT-Connect algorithm proposed in this paper are illustrated.
万方数据
维普
