Dynamic Obstacle Avoidance Path Planning for Robotic Arm Based on Improved RRT-Connect
In the face of complex terrain and dynamic obstacle environments,the RRT∗-Connect algorithm has problems such as low efficiency and path difference in obstacle avoidance path planning for robotic arms.A dynamic obstacle avoidance path planning algorithm based on an improved RRT∗-Connect robotic arm is proposed.Firstly,the middle sampling point is added to the RRT∗-Connect algorithm to guide the two random trees to grow toward the middle sampling point,and in addition,adjustable constraint parameters are added to the sampling point to achieve the control of target bias sampling and random sampling space by adjusting the constraint parameters.In the dynamic ob-stacle avoidance stage,the distance monitoring algorithm between the robotic arm and dynamic obstacles is added,and only the paths that are obscured by obstacles and within the danger distance are deleted,and the improved algorithm is used again for local path planning and connected with the original path.Finally,the path planning effect of this paper's algorithm in complex static scenes and dynamic environment is verified by Matlab simulation,and the practi-cality of this paper's algorithm in dynamic obstacle avoidance path planning of robotic arm is verified in ROS platform.
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