The Mechanical Arm of Six-Dof Obstacle Avoidance Path Planning Based on Rapid-Exploring Random Trees
Gang Xie · Techniques of Automation and Applications · 2012
A new improved rapid-exploring random tree algorithm for path planning of robot is proposed to plan an optimal path in complex environment.The starting point as root node of the random tree,and the standard vector as benchmark to choose direction,by extending,gradually increase the leaf nodes.The algorithm Improve the speed of expansion.Through the inverse kinematics rapid planning out a global optimization path,to solve the point of failure,instead of a reasonable method,makes the path smoothness,ensures mechanical arm steady at work,and finds a security path to reach target pose.