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Path Planning of a Mechanical Arm Based on an Improved Artificial Potential Field and a Rapid Expansion Random Tree Hybrid Algorithm
2021
Algorithms
To improve the path planning efficiency of a robotic arm in three-dimensional space and improve the obstacle avoidance ability, this paper proposes an improved artificial potential field and rapid expansion random tree (APF-RRT) hybrid algorithm for the mechanical arm path planning method. The improved APF algorithm (I-APF) introduces a heuristic method based on the number of adjacent obstacles to escape from local minima, which solves the local minimum problem of the APF method and improves
doi:10.3390/a14110321
fatcat:fjju4mgdgva5re3r4aib3vjmhy