Path Planning Algorithm for Manipulators in Complex Scenes Based on Improved RRT*

Path Planning Algorithm for Manipulators in Complex Scenes Based on Improved RRT*

Aiming at the problems of a six-degree-of-freedom robotic arm in a three-dimensional multi-obstacle space, such as low sampling efficiency and path search failure, an improved fast extended random tree (RRT*) algorithm for robotic arm path planning method (abbreviated as HP-APF-RRT*) is proposed. Th...

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Bibliographic Details
Main Authors: Xiqing Zhang, Pengyu Wang, Yongrui Guo, Qianqian Han, Kuoran Zhang
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Sensors
Subjects:
six-degree-of-freedom robotic arm
path planning
RRT*
APF
triangular inequalities
Online Access:https://www.mdpi.com/1424-8220/25/2/328
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