Research on Obstacle Avoidance of Underwater Rope-Driven Multi-Joint Manipulator

Aiming at solving the problems of long search time, low sampling efficiency and rough path in the traditional bidirectional RRT algorithm in the path planning process of underwater manipulator obstacle avoidance, this paper proposes a TBi-RRT (target bias bidirectional RRT) algorithm based on bidirectional target bias strategy. The algorithm introduces the target bias strategy to optimize the selection of sampling points so that the two random trees are expanded toward the target direction to accelerate the expansion speed. Given the redundant sections in the obtained obstacle avoidance path, the path length is reduced by deleting redundant points, and the path is smoothed by combining B-spline curves. To verify the advantages of this algorithm, the Bi-RRT and TBi-RRT algorithms are compared and simulated in various environments. The simulation results show that the improved algorithm is more efficient in the planning process with a shorter and smoother path. the robot toolbox is used for the underwater narrow environment experiment. The results show that the proposed algorithm has strong adaptability in path planning of underwater obstacle avoidance.