Path Planning Based on Bi-RRT Algorithm for Redundant Manipulator

Abstract

For the manipulator which is used to execute maintenance tasks in the Tokamak reactor, solving the problem of collision-free path planning is the premise. This paper introduced the Single-RRT and Bi-RRT algorithms then used Bi-RRT algorithm to make the path planning for the motion of a redundant manipulator in the vacuum chamber, finally made a Matlab simulation analysis. The result shows that RRT algorithm can effectively achieve the purpose of collision-free path planning, and using Bi-RRT can reduce the number of searches and invalid search points compared with Single-RRT. The better path can be obtained and used in the actual control by means of multiple searches and replacements.