Improved Probabilistic Roadmap Path Planning Algorithm
Ali Jamshidi, Esmaeel Khanmirza · 2024
The robotic arms have become key instruments in recent years within different industries, and their use has been highly increased with the purpose of performing tasks with much better productivity. Safety for the robots involves path planning, which is allowed when collisions with obstacles are avoided. Different algorithms, such as RRT, PRM, GA, and PSO so far have been developed for this purpose, but the main challenge is execution speed of those algorithms to give the fastest response in case of obstacle avoidance. This paper will focus on the execution speed of algorithms, while an enhanced version of the Probabilistic Roadmap algorithm is presented within the motion planning in 3D space. This algorithm is thus very powerful in finding the shortest path. Also, the comparison of this algorithm with previously known methods has shown speed and ease of implementation improvement over the existing algorithms.