Improved Motion Planning Algorithms Based on Rapidly-exploring Random Tree: A Review

摘要

This paper mainly summarizes and introduces the improvements proposed by scholars at home and abroad in recent years for the application of Rapidly-exploring Random Tree in robot arms. This paper first briefly introduces the existing path planning algorithms and expounds their advantages and disadvantages. Then the principle and process of Rapidly-exploring Random Tree are described and the RRT algorithm in three-dimensional space is simulated and analyzed. Next, the improved RRT algorithm proposed by domestic and foreign researchers is classified, analyzed and explained. Finally, the whole article is summarized and the direction of future development and research of manipulator motion planning algorithms is prospected.