Research on space path planning algorithm of robot based on improved RRT

Abstract:
In order that solves the poor efficiency of motion planning of manipulators in multi-dimensional space, a novel path planning algorithm is proposed, which mixes the potential field and improved random extended tree method. Firstly, based on the standard random extended tree algorithm, a step size selection strategy is leveraged to enable the expansion point to quickly cross the non-threatening area and enter the potential field constraint, so the search speed is accelerated. Secondly, sampling constraints and growth forbidden zone are set to keep the expansion point away from the threat quickly and effectively when the expansion point enters into the range of the potential field. Then, the greedy strategy and cubic B-spline curve are conjoined to smooth the path. Finally, the improved algorithm is simulated in two environments with different complexity. The results show that the improved algorithm can significantly improve the running time and path optimization under the different environments.