Path Planning Algorithm for Manipulators in Complex Scenes Based on Improved RRT*

Aiming at the problems of a six-degree-of-freedom robotic arm in a three-dimensional multi-obstacle space, such as low sampling efficiency and path search failure, an improved fast extended random tree (RRT*) algorithm for robotic arm path planning method (abbreviated as HP-APF-RRT*) is proposed. Th...

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Bibliographic Details

Published in:	Sensors
Main Authors:	Xiqing Zhang, Pengyu Wang, Yongrui Guo, Qianqian Han, Kuoran Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2025-01-01
Subjects:	six-degree-of-freedom robotic arm path planning RRT* APF triangular inequalities
Online Access:	https://www.mdpi.com/1424-8220/25/2/328