Path Planning Based on Bi-RRT Algorithm for Redundant Manipulator
Xiaopeng Zang, Weixuan Yu, Lihua Zhang, S. Iqbal · Advances in engineering research/Advances in Engineering Research · 2015
For the manipulator which is used to execute maintenance tasks in the Tokamak reactor, solving the problem of collision-free path planning is the premise.This paper introduced the Single-RRT and Bi-RRT algorithms then used Bi-RRT algorithm to make the path planning for the motion of a redundant manipulator in the vacuum chamber, finally made a Matlab simulation analysis.The result shows that RRT algorithm can effectively achieve the purpose of collision-free path planning, and using Bi-RRT can reduce the number of searches and invalid search points compared with Single-RRT.The better path can be obtained and used in the actual control by means of multiple searches and replacements.