Design and implementation of improved RRT algorithm for collision free motion planning of high-dimensional robot in complex environment

摘要

According to the collision free motion planning of high-dimensional robot in the complex environment, the improved RRT algorithm is proposed. First of all, collision detection algorithm is put forward on the basis of OBB by using Separating Axis principle. Secondly, the basic RRT algorithm concept is studied, and by integrating J-Space sampling and C-Space modeling technology, the improved RRT algorithm that can promote the stability of performance and convergence rate is put forward; the collision detection algorithm proposed in this paper is integrated into the improved RRT algorithm to judge whether the robot in C-Space collides with the obstacles. Finally, a three-dimensional system software framework is designed and achieved, and the effectiveness and stability proposed in this paper is verified via computational simulation.