A Dynamic Multiple-Query RRT Planning Algorithm for Manipulator Obstacle Avoidance

Author:

Yuan Chengren12ORCID,Shuai Changgeng12,Zhang Wenqun3

Affiliation:

1. Institute of Noise & Vibration, Naval University of Engineering, Wuhan 430033, China

2. National Key Laboratory on Ship Vibration & Noise, Wuhan 430033, China

3. College of Power Engineering, Naval University of Engineering, Wuhan 430033, China

Abstract

Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored in this article. To address obstacle avoidance problems, a multiple-query and sampling-based motion replanning algorithm with the dynamic bias-goal factor, rapidly exploring random tree (DBG-RRT), is proposed to achieve a rapid response and a high success rate. Differently from other studies on path planning, a relay-node method is adopted on the basis of motion planning to generate a new collision-free trajectory. Subsequently, an un-interrupt strategy is embraced to judge whether the generated trajectory would be interfered with by dynamic obstacles. In the end, the DBG-RRT algorithm is applied, and the results demonstrate its effectiveness for manipulator motion planning in a dynamic environment.

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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