Sampling-Based Obstacle Avoidance Path Planning Algorithm for Nuclear Industry Manipulators in Narrow Environments

This article presents an efficient obstacle avoidance path planning algorithm for robotic manipulators, termed Bi-Balanced Rapidly-exploring Random Vine (BBRRV), specifically designed for operational environments in the nuclear industry. The BBRRV algorithm guides the sampling process within an Rapi...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics S. 1 - 11
Hauptverfasser:	Huang, Ge, Liu, Guanyang, Niu, Yuanzhen, Wu, Dehui, Shen, Chenlin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	IEEE 01.01.2025
Schlagworte:	Collision avoidance End effectors Heuristic algorithms Industries Manipulators Obstacle avoidance Path planning Planning Principal component analysis Rapidly-exploring Random Tree (RRT) sampling-based algorithm Trees (botanical) Wrist
ISSN:	1083-4435, 1941-014X
Online-Zugang:	Volltext
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