Path planning of manipulator based on improved RRT algorithm

Abstract

Aiming at the problem that the 6-DOF manipulator can quickly avoid obstacles in high-dimensional space, the method of path planning based on the improved rapid expansion random tree (RRT) algorithm is proposed. The improved RRT algorithm combines the advantages of the target bias strategy and proposes a method for setting the intermediate bias point. In random sampling, the sampling point is biased to the intermediate bias point,with a certain probability to reduce the blindness of sampling, and use at the same time the path shortening method reduces path nodes and turning points, and optimizes the motion path of the robotic arm. By comparing the simulation results with the RRT and P-RRT algorithms, the effectiveness of the improved RRT algorithm in the calculation time and the number of path nodes is proved.