Adaptive path planning of underwater robotic arm based on artificial potential field and RRT algorithm
Aiming at the problems such as low planning efficiency,large memory consumption and poor dynamic avoidance response of RRT algorithm when applied to 3D dynamic obstacle avoidance motion planning of robot arm in complex underwater environment,an improved RRT algorithm based on heuristic dynamic constraint sampling guided by artificial potential field was proposed.The method of global planning combined with local re-planning was used to improve the real-time performance of the algorithm in dynamic environment.The simulation results showed that the proposed algorithm had a faster convergence speed,a smooth planning path,a slower angular velocity of the manipulator,and a better effect on the avoidance of underwater irregular dynamic obstacles.
dynamic path planningindirect target point methodquickly explore random treesartificial potential field
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