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Application of Improved Rapidly-exploring Random Trees (RRT) algorithm for Obstacle Avoidance of Snake-like Manipulator
Wang Z(王轸)1,2,3; Chang J(常健)1,2; Li B(李斌)1,2; Wang C(王聪)1,2; Liu C(刘春)1,2
Department机器人学研究室
Conference Name17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Conference DateOctober 13-16, 2020
Conference PlaceBeijing, China
Source Publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherIEEE
Publication PlaceNew York
2020
Pages490-495
Indexed ByEI
EI Accession number20204809539256
Contribution Rank1
ISBN978-1-7281-6415-1
Keywordsnake-like manipulator improved Rapidly-exploring Random Trees (RRT) algorithm obstacle avoidance collision detection
AbstractWith the development of science and technology, more and more redundant manipulators have been applied in various fields. Aim to realize autonomous obstacle avoidance in unstructured environment for snake-like manipulator, an improved Rapidly-exploring Random Trees (RRT) algorithm is proposed. Establish the Kinematic model of snake-like manipulator and obstacle. Collision detection is also performed. In order to improve the efficiency of the algorithm, build together multiple random trees and generate a valid path without collision. Next the path is optimized to make the path smoother. Finally, simulation is performed in MATLAB environment to verify the effectiveness and practicability of the algorithm. This method has important practical significance for the redundant manipulator.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27961
Collection机器人学研究室
Corresponding AuthorWang Z(王轸); Chang J(常健)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang
3.University of Chinese Academy of Sciences, 100049, Beijing
Recommended Citation
GB/T 7714
Wang Z,Chang J,Li B,et al. Application of Improved Rapidly-exploring Random Trees (RRT) algorithm for Obstacle Avoidance of Snake-like Manipulator[C]. New York:IEEE,2020:490-495.
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