Obstacle Avoidance Motion Planning of Manipulators in ROS Based on the Improved RRT Algorithm

Aiming at the fact that the RRT algorithm based on the target bias is easy to fall into local search and has a low search efficiency in complex environment, further improvement is made in the ROS based on the Dobot model and the DIY model. On the basis of creating the manipulator model, the MoveIt!...

Descripción completa

Detalles Bibliográficos

Autores principales:	Cao Yi, Zhang Jingtao, Zhao Pu, Li Lei, Guo Yinhui
Formato:	Artigo
Lenguaje:	Chinês
Publicado:	Editorial Office of Journal of Mechanical Transmission 2022-12-01
Colección:	Jixie chuandong
Materias:	Manipulator Obstacle avoidance motion planning Improved RRT algorithm Target change Variable step size
Acceso en línea:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.019
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!