TY - GEN
T1 - PR-RRT*
T2 - 10th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2020
AU - Liang, Yi
AU - Mu, Hengyang
AU - Chen, Diansheng
AU - Wei, Xiaodong
AU - Wang, Min
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/10
Y1 - 2020/10/10
N2 - Based on RRT∗ algorithm, an improved sampling-based motion planning algorithm is proposed in this paper. Firstly, the kinematics analysis of the Schunk lwa3 manipulator is performed, and the D-H model is built. Then the forward kinematics solution of the manipulator is obtained, and the working space of the manipulator is solved based on the Monte Carlo method. Finally, based on the classic RRT motion planning algorithm and the rewiring method in RRT*, the probabilistic-root rapidly-exploring random tree motion planning algorithm is designed and verified by experiments.
AB - Based on RRT∗ algorithm, an improved sampling-based motion planning algorithm is proposed in this paper. Firstly, the kinematics analysis of the Schunk lwa3 manipulator is performed, and the D-H model is built. Then the forward kinematics solution of the manipulator is obtained, and the working space of the manipulator is solved based on the Monte Carlo method. Finally, based on the classic RRT motion planning algorithm and the rewiring method in RRT*, the probabilistic-root rapidly-exploring random tree motion planning algorithm is designed and verified by experiments.
UR - https://www.scopus.com/pages/publications/85099012743
U2 - 10.1109/CYBER50695.2020.9279164
DO - 10.1109/CYBER50695.2020.9279164
M3 - 会议稿件
AN - SCOPUS:85099012743
T3 - 10th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2020
SP - 417
EP - 422
BT - 10th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 10 October 2020 through 13 October 2020
ER -