基于改进RRT*算法的机械臂路径规划研究OA

RRT(Rapidly expanding Random Tree)algorithm is a sampling-based path planning algorithm,which is quite suitable for robot path planning.However,the traditional RRT* algorithm has the disadvantages of long time consumption and high memory consuption utilization.Therefore,an improved RRT* algorithm is proposed to solve these problems,whose selection range of the parent nodes are optimized,and target biased sampling and heuristic strategy is introduced on the basis of the traditional random sampling mechanism,which reduces the time consumption of the algorithm and shortens the path length;the node rejection strategy is introduced to eliminate redundant paths with too large turning angles and further improve the algorithm efficiency.Matlab is used to carry out simulation experiments,and the results show that the improved RRT*algorithm can search the shortest collision free path from the starting point to the end point in a shorter time,and can be well applied to the path planning of the manipulator.