A Dynamic Multiple-Query RRT Planning Algorithm for Manipulator Obstacle Avoidance

نویسندگان

چکیده

Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored this article. To address problems, multiple-query and sampling-based replanning algorithm with the bias-goal factor, rapidly exploring random tree (DBG-RRT), proposed to achieve rapid response high success rate. Differently from other studies on path planning, relay-node method adopted basis of generate new collision-free trajectory. Subsequently, an un-interrupt strategy embraced judge whether generated trajectory would be interfered by obstacles. In end, DBG-RRT applied, results demonstrate its effectiveness manipulator environment.

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ژورنال

عنوان ژورنال: Applied sciences

سال: 2023

ISSN: ['2076-3417']

DOI: https://doi.org/10.3390/app13063394