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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 3

Path planning of robotic ARM bin-picking based on improved RRT* combined with artificial potential field

Luo Xuan
Chen Xindu
Wu Lei
Liu Yuesheng
Chen Yubing
Mai Zhanhao
Lu Xingyu
School of Electromechanical Engineering, Guangdong University of Technology, Guanzhou Guangdong 510006, China
DOI: 10.19734/j.issn.1001-3695.2024.08.0310

Abstract

To enable the robotic arm to quickly plan an optimal picking path in the bin-picking application, this paper proposed an improved RRT*(rapidly-exploring random tree*) path planning method that integrates artificial potential field. First, this paper utilized an artificial potential field for pre-planning, found a path node on the pre-planned path that could connect directly to the target node without collisions, and used it as the planning target node for RRT*, avoiding unnecessary search in the blank area. Next, this paper incorporated target-guided sampling and adaptive search parameters computation strategies into the RRT* algorithm, enhancing the algorithm's directionality and robustness. It introduced a sampling node rejection mechanism based on the end-effector pose constraints of the robotic arm, reducing the number of validity checks and improving planning efficiency. Finally, the algorithm performed pruning optimization on the generated raw path to reduce path cost and the number of turns. Subsequently, it utilized quasi-uniform cubic B-splines combined with quaternion spherical interpolation for smoothing optimization, improving the path quality. The experimental results indicated that the proposed improved algorithm increased the planning success rate by 12.66% compared to the RRT* algorithm, while reducing planning time and path cost by 79.05% and 34.80%, respectively. Ablation experiments have demonstrated the effectiveness of each improvement component. Picking tests conducted on a hardware platform verified the practicality of this method.

Foundation Support

广东省基础与应用基础研究基金资助项目(2021A1515110035)
佛山市重点领域科技攻关项目(2120001011009)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.08.0310
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 3

Publish History

[2024-12-16] Accepted Paper

Cite This Article

罗轩, 陈新度, 吴磊, 等. 融合人工势场的改进RRT*机械臂料框分拣路径规划 [J]. 计算机应用研究, 2025, 42 (3). (2024-12-16). https://doi.org/10.19734/j.issn.1001-3695.2024.08.0310. (Luo Xuan, Chen Xindu, Wu Lei, et al. Path planning of robotic ARM bin-picking based on improved RRT* combined with artificial potential field [J]. Application Research of Computers, 2025, 42 (3). (2024-12-16). https://doi.org/10.19734/j.issn.1001-3695.2024.08.0310. )

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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