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http://dx.doi.org/10.5302/J.ICROS.2015.14.0095

Efficient Path Planning of a High DOF Multibody Robotic System using Adaptive RRT  

Kim, Dong-Hyung (Department of Mechanical Engineering, Hanyang University)
Choi, Youn-Sung (Department of Mechanical Engineering, Hanyang University)
Yan, Rui-Jun (Department of Mechatronics Engineering, Hanyang University)
Luo, Lu-Ping (Department of Mechanical Engineering, Hanyang University)
Lee, Ji Yeong (Department of Robot Engineering, Hanyang University)
Han, Chang-Soo (Department of Robot Engineering, Hanyang University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.3, 2015 , pp. 257-264 More about this Journal
Abstract
This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.
Keywords
path planning; motion planning; multibody robotic system; rapidly-exploring random tree;
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