Improved RRT Algorithm on Manipulator Path Planning
Aiming at the problem of low search efficiency and large randomness in the obstacle avoidance path planning of the traditional rapid expansion random tree(RRT)algorithm,an improved RRT algorithm is proposed.The algorithm combines the advantages of the bidirectional RRT algorithm and the target bias RRT algorithm,and sets the virtual target point and changes the step length during the random tree expansion process.Because the path planned by the RRT algorithm has many redundant nodes,the redundant nodes in the obstacle avoidance path are deleted by the method of two-way deletion and the shortest path,and finally the cubic B-spline curve is used to smooth the obstacle avoidance path.The simulation results show that the improved RRT algorithm is better than the two-way RRT algorithm and the target bias RRT algorithm in the expansion time,path length and number of expansion nodes,and is effective in deleting and smoothing redundant nodes in the path.
Rapidly-Exploring Random TreeManipulatorVariable Step SizeVirtual Target PointRedundant NodeCubic B-Spline
NETL
NSTL
万方数据
维普
