Obstacle avoidance motion planning for space redundant manipulator based on improved RRT algorithm

Abstract

In addressing the challenge of obstacle-avoidance motion planning for space redundant manipulators operating in environments with obstacles, an improved method based on a rapidly exploring random tree (RRT) algorithm is proposed. The method first adopts a target probabilistic sampling strategy to enhance the target orientation. Secondly, an artificial potential field is constructed to steer the growth of the node tree in joint space. Subsequently, a collision detection model between the manipulator and obstacles is established based on the bounding capsule and bounding sphere in Cartesian space. Finally, the paths are pruned and smoothed with a cubic Bezier curve. The simulation results validate the method’s capacity to effectively plan a collision-free path for the space redundant manipulator and the joint motion trajectory is smooth.