@inproceedings{9bb76f2df6c74a9eb7cce4905b53f542,
title = "Path planning of the dual-arm robot based on VT-RRT algorithm",
abstract = "This paper presents a variable step size trunk rapidly-exploring random trees (VT-RRT) algorithm for path planning of a dual-arm robot. First, we establish the DH parameter simulation model of the dual-arm robot which is composed of two UR5 single-arm robots. Then, in the working space of the dual-arm robot, several spheres are randomly added to constitute an obstacle environment. Finally, we propose a new improved algorithm by transforming the search space of random nodes in RRT algorithm and adaptively adjusting the step size according to the target position. The simulation results show that the VT-RRT algorithm effectively increases the search efficiency, decreases the iteration step size, and reduces the path planning time in comparison to the basic rapidly-exploring random trees (RRT) algorithm. At the same time, the robustness is also greatly increased.",
keywords = "Dual-arm robot, Path planning, Space conversion, VT-RRT",
author = "Zhuang Li and Hongbin Ma and Xaofei Zhang and Qing Fei",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866388",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4359--4364",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "United States",
}