A novel RRT*-Connect algorithm for path planning on robotic arm collision avoidance

A novel RRT*-Connect algorithm for path planning on robotic arm collision avoidance

Abstract To address the limitations of the original algorithm, several optimization techniques are proposed. This article presents an original RRT*-Connect algorithm for the planning of obstacle avoidance paths on robotic arms. These strategies include implementing a target biasing algorithm, using...

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Bibliographic Details
Main Authors: Miaolong Cao, Huawei Mao, Xiaohui Tang, Yuzhou Sun, Tiandong Chen
Format: Article
Language:English
Published: Nature Portfolio 2025-01-01
Series:Scientific Reports
Subjects:
Robotic arm
Path planning
RRT algorithm
Sampling-based algorithms
Online Access:https://doi.org/10.1038/s41598-025-87113-5
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