Path planning of manipulator based on variable probability RRT algorithm

Xianyu Meng; Xiquan Yu; Shongrui Zhao; Hongsheng Liu; Wang Shuo

doi:10.1117/12.3011530

1 December 2023 Path planning of manipulator based on variable probability RRT algorithm

Xianyu Meng, Xiquan Yu, Shongrui Zhao, Hongsheng Liu, Wang Shuo

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 1294013 (2023) https://doi.org/10.1117/12.3011530
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

The traditional fast rapidly exploring random tree(RRT) algorithm has the advantages of probabilistic integrity in the motion planning of robotic arm, but at the same time, it suffers from blind search, poor goal orientation, and slow planning speed, while the goal-oriented RRT algorithm based on probability P has good goal orientation but suffers from the problem that it is easy to fall into local minima that cannot be jumped out. In this paper, we propose an RRT algorithm with variable probability P based on the influence of historical nodes to address the above problems so that it has the advantages of both algorithms, relying on the ability of historical nodes to perceive the environment, allowing it to maintain a high goaldirected probability in an open environment and being able to automatically reduce the value of P in an environment with many obstacles, giving it the ability to jump out of the local minimum of traditional RRT.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xianyu Meng, Xiquan Yu, Shongrui Zhao, Hongsheng Liu, and Wang Shuo "Path planning of manipulator based on variable probability RRT algorithm", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 1294013 (1 December 2023); https://doi.org/10.1117/12.3011530

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