Application of Improved Rapidly-exploring Random Trees (RRT) algorithm for Obstacle Avoidance of Snake-like Manipulator
文献类型：会议论文
| 作者 | Wang Z(王轸)1,2,3; Chang J(常健)1,2 ; Li B(李斌)1,2; Wang C(王聪)1,2; Liu C(刘春)1,2
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| 出版日期 | 2020 |
| 会议日期 | October 13-16, 2020 |
| 会议地点 | Beijing, China |
| 关键词 | snake-like manipulator improved Rapidly-exploring Random Trees (RRT) algorithm obstacle avoidance collision detection |
| 页码 | 490-495 |
| 英文摘要 | With the development of science and technology, more and more redundant manipulators have been applied in various fields. Aim to realize autonomous obstacle avoidance in unstructured environment for snake-like manipulator, an improved Rapidly-exploring Random Trees (RRT) algorithm is proposed. Establish the Kinematic model of snake-like manipulator and obstacle. Collision detection is also performed. In order to improve the efficiency of the algorithm, build together multiple random trees and generate a valid path without collision. Next the path is optimized to make the path smoother. Finally, simulation is performed in MATLAB environment to verify the effectiveness and practicability of the algorithm. This method has important practical significance for the redundant manipulator. |
| 产权排序 | 1 |
| 会议录 | 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-6415-1 |
| 源URL | [http://ir.sia.cn/handle/173321/27961]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Wang Z(王轸); Chang J(常健) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, Shenyang 3.University of Chinese Academy of Sciences, 100049, Beijing |
| 推荐引用方式 GB/T 7714 | Wang Z,Chang J,Li B,et al. Application of Improved Rapidly-exploring Random Trees (RRT) algorithm for Obstacle Avoidance of Snake-like Manipulator[C]. 见:. Beijing, China. October 13-16, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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