Robot Arm Path Planning Based on Improved RRT Algorithm

Abstract

There are problems such as large randomness, high space complexity, and inability to generate the optimal path in the path planning of the manipulator in view of the traditional RRT(Rapidly Random Tree) algorithm. In this paper, the traditional RRT algorithm is optimized by fusing the artificial potential field method, so that the manipulator can effectively avoid obstacles in the working process, and ensure the shortest path of the manipulator from the starting point to the target point. The simulation results prove the effectiveness of the method.