FBi-RRT: a path planning algorithm for manipulators with heuristic node expansion

This paper is concerned with the problem of collision-free path planning for manipulators in multi-obstacle scenarios. Aiming at overcoming the deficiencies of existing algorithms in excessive time consumption and poor expansion quality, a path planning algorithm named Fast Bi-directional Rapidly-ex...

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Bibliographic Details

Published in:	Robotica Vol. 42; no. 3; pp. 644 - 659
Main Authors:	Xiao, Guangzhou, Zhang, Lixian, Wu, Tong, Han, Yuejiang, Ding, Yihang, Han, Chengzhe
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.03.2024
Subjects:	Algorithms Barriers Collision avoidance Expansion Heuristic Nodes Path planning Strategy robotic manipulator sampling-based algorithm rapidly exploring random tree path planning time consumption
ISSN:	0263-5747, 1469-8668
Online Access:	Get full text
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