Path planning of mobile manipulator based on improved RRT algorithm
Yalan Huang, Yuan Sun · 2023
Aiming at the problems of the basic RRT algorithm in path planning of mobile manipulator, such as undirectivity, repeated search and node redundancy, an improved RRT algorithm was proposed. Firstly, the heuristic search idea is introduced, and the target points are extended to sampling points with certain probability to enhance the target orientation of the algorithm. Secondly, node rejection mechanism is introduced to cover the search area to avoid repeated search to generate new nodes. Finally, the path is pruned and smoothed. The experimental results show that the improved RRT algorithm has stronger search ability, greatly reduced path sampling points, reduced search time, and higher success rate.