Obstacle avoidance path planning of space manipulator based on improved RRT algorithm

Weihua Bai; Xingzhi Xu

doi:10.1117/12.2660134

26 October 2022 Obstacle avoidance path planning of space manipulator based on improved RRT algorithm

Weihua Bai, Xingzhi Xu

Proceedings Volume 12452, 5th International Conference on Informatics Engineering and Information Science (ICIEIS 2022); 1245204 (2022) https://doi.org/10.1117/12.2660134
Event: 5th International Conference on Informatics Engineering and Information Science (ICIEIS 2022), 2022, Changsha, Hunan, China

Abstract

The traditional rapid expansion random tree (RRT) algorithm has poor efficiency in the motion planning of the manipulator. Based on the traditional RRT algorithm, this paper introduces the target offset strategy in the process of expanding leaf nodes. When the algorithm falls into a local minimum, it will select the expansion point, so as to quickly break away from the minimum. The improved RRT algorithm and other algorithms are simulated in Mathematica. The experimental results show that the improved algorithm can guide the growth direction of the tree, improve the convergence speed of the algorithm, make it difficult to fall into local minimum, and improve the motion planning efficiency of the manipulator in simulation.

Citation Download Citation

Weihua Bai and Xingzhi Xu "Obstacle avoidance path planning of space manipulator based on improved RRT algorithm", Proc. SPIE 12452, 5th International Conference on Informatics Engineering and Information Science (ICIEIS 2022), 1245204 (26 October 2022); https://doi.org/10.1117/12.2660134

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