Abstract:
The basic operation of the autonomous mobile robot is the grasping action of the mechanical arm arm. The premise of grasping is the identification of targets, and the key...Show MoreMetadata
Abstract:
The basic operation of the autonomous mobile robot is the grasping action of the mechanical arm arm. The premise of grasping is the identification of targets, and the key technology of successful grasping is the path planning and motion control of the robotic arm. Path planning is the premise of motion control. In particular, the obstacle avoidance path planning of the robot arm is the basic condition for the application of the autonomous mobile robot. In this paper, we improve the RRT* algorithm. To reduce the running time and avoid falling into local minima, the goal-oriented node strategy is added and the adaptive probability is adjusted. The simulation experiment of obstacle avoidance path planning illustrates the reliability of the proposed obstacle avoidance path planning algorithm.
Published in: 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)
Date of Conference: 01-03 December 2023
Date Added to IEEE Xplore: 11 April 2024
ISBN Information: