DOI 10.17586/0021-3454-2022-65-3-185-193
UDC 004.021
MODIFIED INTELLIGENT BIDIRECTIONAL RANDOM TREE ALGORITHM FOR PLANNING THE MOVEMENT OF ANTHROPOMORPHIC MANIPULATORS
ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics;
K. Artemov
ITMO University, Faculty of Control Systems and Robotics, International Laboratory of Biomechatronics and Energy-Efficient Robotics;
O. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate,engineer
S. h. Zabihifar
Sberbank, Robotics Laboratory;
A. N. Semochkin
Sberbank, Robotics Laboratory;
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Abstract. An algorithm for planning the movement of a multi-link robotic system in an environment with obstacles is considered. The main requirements for this task are high performance and efficient memory usage during operation. An algorithm for path planning based on the method of a bidirectional fast-investigating random tree is presented. An approach is used which excludes addition of new vertices to the tree if their location in space can unambiguously conclude that it is inappropriate to use them in the path construction. This modification makes it possible to speed up movement planning and reduce the amount of memory needed to store the environment analysis data.
Keywords: path planning, rapidly-exploring random trees, exclusion of unused vertices, iCub
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