CP-QRRT*: A Path Planning Algorithm for Hyper-Redundant Manipulators Considering Joint Angle Constraints
A novel algorithm (CP-QRRT*) is proposed for the path planning tasks of hyper-redundant manipulators (HRMs) in confined spaces, addressing the issues of unmet joint angle constraints, redundant planning paths, and long planning times present in previous algorithms. First, the PSO algorithm is introd...
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| Autores principales: | , , , |
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| Formato: | Artigo |
| Lenguaje: | Inglês |
| Publicado: |
MDPI AG
2025-02-01
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| Colección: | Sensors |
| Materias: | |
| Acceso en línea: | https://www.mdpi.com/1424-8220/25/5/1490 |
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