Juanling Liang1, Wenguang Luo1,2,*, Yongxin Qin1
CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1009-1027, 2024, DOI:10.32604/cmc.2024.055883
- 15 October 2024
Abstract An improved RRT* algorithm, referred to as the AGP-RRT* algorithm, is proposed to address the problems of poor directionality, long generated paths, and slow convergence speed in multi-axis robotic arm path planning. First, an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency. Second, a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to… More >
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