Robotic arm path planning based on improved Informed-RRT?algorithm
Aiming at the problems of insufficient goal orientation and low path planning efficiency of the robotic arm path planning algorithm,an improved Informed-RRT∗algorithm based on the improved Informed-RRT∗ algorithm was proposed for robotic arm path planning.First,the target point offset strategy and the target-oriented strategy were introduced to increase the tendency of searching toward the target point.At the same time,the nonlinear variable step strategy was introduced to improve the efficiency and path quality of the algorithm.Then perform algorithm simulation experiments in two-dimensional and three-dimensional environments in MATLAB.Experimental results showed that the improved Informed-RRT∗ algorithm significantly shortens the planning time,reduces the path length,and improves the planning success rate.Finally,the algorithm was applied to the robot arm path planning simulation with the bottom detection of the EMU as the background,and the cubic B-spline curve was used to smooth the path.The algorithm also showed excellent performance,and the motion curves of each joint of the robot arm were smooth.Continuously without obvious mutations,verifying its effectiveness in practical applications.
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