Path Planning Based on Bi-RRT Algorithm for Redundant Manipulator

DOI

10.2991/eame-15.2015.51How to use a DOI?

Keywords

redundant manipulator; path planning; RRT algorithm; Tokamak

Abstract

For the manipulator which is used to execute maintenance tasks in the Tokamak reactor, solving the problem of collision-free path planning is the premise. This paper introduced the Single-RRT and Bi-RRT algorithms then used Bi-RRT algorithm to make the path planning for the motion of a redundant manipulator in the vacuum chamber, finally made a Matlab simulation analysis. The result shows that RRT algorithm can effectively achieve the purpose of collision-free path planning, and using Bi-RRT can reduce the number of searches and invalid search points compared with Single-RRT. The better path can be obtained and used in the actual control by means of multiple searches and replacements.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - X.Z. Zang
AU  - W.T. Yu
AU  - L. Zhang
AU  - S. Iqbal
PY  - 2015/07
DA  - 2015/07
TI  - Path Planning Based on Bi-RRT Algorithm for Redundant Manipulator
BT  - Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering
PB  - Atlantis Press
SP  - 189
EP  - 191
SN  - 2352-5401
UR  - https://doi.org/10.2991/eame-15.2015.51
DO  - 10.2991/eame-15.2015.51
ID  - Zang2015/07
ER  -