In order to solve the problem of obstacle avoidance motion planning of serial robots,a fast collision detection method is proposed.The algorithm is based on the RRT algorithm,and its path generation is improved.The bidirectional generation path is used to improve the efficiency,and the greedy algorithm is introduced to reduce the length of the robot's moving path.The simulation experiment is carried out by Matlab.The results show that the algorithm can efficiently plan the collision-free path of the robot,significantly reduce the number of intermediate nodes,reduce the length of the robot motion path and verify the feasibility of the algorithm.
serial robotobstacle avoidance planningRRT algorithmgreedy algorithm
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