Research on path planning of manipulator based on improved RRT* algorithm
Yulan Han, Ying Shi, Xue Li · 2023
An improved RRT* algorithm based on dynamic bias angle and path simplification is proposed to address the problem that the traditional RRT* algorithm requires a large computational effort to obtain a better path. The algorithm uses a dynamic bias angle expansion strategy to enhance path planning guidance while avoiding local optimality, and then performs path simplification to eliminate redundant points and reduce path length. Finally, the improved RRT* algorithm is used to smooth the processed paths using cubic B-sample interpolation to extend the life of the robot arm. The simulation results demonstrate that the path generated by the improved RRT* algorithm is of higher quality, and the robot arm completes the grasping and placement of the object with a better path around the obstacle after the smoothing process is added.