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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 1
42-46

Obstacle avoidance path planning of manipulator based on PS-RRT algorithm

Wang Hongli
Xiang Guofei
Zhu Yuqi
Dian Songyi
College of Electrical Engineering, Sichuan University, Chengdu 610065, China
DOI: 10.19734/j.issn.1001-3695.2022.06.0287

Abstract

Aiming at the problems of large sampling area, small effective area, many redundant nodes and long pruning time when applying rapidly exploring random trees(RRT) algorithm to manipulator path planning, this paper proposed an efficient RRT path planning algorithm based on partitioned dynamic sampling strategy and repeated area node rejection mechanism. Firstly, this paper used PS-RRT to quickly plan the initial path of the manipulator end. Secondly, it detected the collision of the links when the manipulator followed the path in sections, and carried out the secondary planning of the collision section with arm constraints. Finally, it spliced the initial path and the second planned path, and then pruned the path. The simulation results show that the obstacle avoidance path planning strategy of the manipulator based on PS-RRT algorithm greatly reduces the number of invalid nodes and can efficiently plan the collision free path of the manipulator, which verifies the feasibility of the algorithm.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.06.0287
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 1
Section: Algorithm Research & Explore
Pages: 42-46
Serial Number: 1001-3695(2023)01-006-0042-05

Publish History

[2022-08-22] Accepted Paper
[2023-01-05] Printed Article

Cite This Article

王红莉, 向国菲, 朱雨琪, 等. 基于PS-RRT算法的机械臂避障路径规划 [J]. 计算机应用研究, 2023, 40 (1): 42-46. (Wang Hongli, Xiang Guofei, Zhu Yuqi, et al. Obstacle avoidance path planning of manipulator based on PS-RRT algorithm [J]. Application Research of Computers, 2023, 40 (1): 42-46. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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