摘要
The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.
The burgeoning robotics industry has catalyzed significant strides in the development and deployment of industrial and service robotic arms, positioning path planning as a pivotal facet for augmenting their operational safety and efficiency. Existing path planning algorithms, while capable of delineating feasible trajectories, often fall short of achieving optimality, particularly concerning path length, search duration, and success likelihood. This study introduces an enhanced Rapidly-Exploring Random Tree (RRT) algorithm, meticulously designed to rectify the issues of node redundancy and the compromised path quality endemic to conventional RRT approaches. Through the integration of an adaptive pruning mechanism and a dynamic elliptical search strategy within the Informed RRT* framework, our algorithm efficiently refines the search tree by discarding branches that surpass the cost of the optimal path, thereby refining the search space and significantly boosting efficiency. Extensive comparative analysis across both two-dimensional and three-dimensional simulation settings underscores the algorithm’s proficiency in markedly improving path precision and search velocity, signifying a breakthrough in the domain of robotic arm path planning.
作者
Wei Liu
Zhennan Huang
Yingpeng Qu
Long Chen
Wei Liu;Zhennan Huang;Yingpeng Qu;Long Chen(School of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan, China;Officers College of PAP, Chengdu, China;Beijing Millet Mobile Software Co., Beijing, China)
