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!...

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Detalhes bibliográficos

Principais autores:	Cao Yi, Zhang Jingtao, Zhao Pu, Li Lei, Guo Yinhui
Formato:	Artigo
Idioma:	Chinês
Publicado em:	Editorial Office of Journal of Mechanical Transmission 2022-12-01
coleção:	Jixie chuandong
Assuntos:	Manipulator Obstacle avoidance motion planning Improved RRT algorithm Target change Variable step size
Acesso em linha:	http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.019
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