TY - GEN
T1 - Path Planning of Manipulator Based on RRT-Connect and Bezier Curve
AU - Zhao, Xionglei
AU - Cao, Zhiqiang
AU - Geng, Wenjie
AU - Yu, Yingying
AU - Tan, Min
AU - Chen, Xuechao
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper presents a path planning approach for a manipulator based on RRT-Connect and Bezier curve. RRT-Connect is first used to search for a collision-free path in the joint space. Then, a dichotomy merge is adopted to remove redundant path nodes. Finally, the Bezier curve is utilized to smooth the transition points in the path. The simulation and experimental results on the Kinova manipulator show that this method can effectively plan a smooth and accessible path in the obstacle environment.
AB - This paper presents a path planning approach for a manipulator based on RRT-Connect and Bezier curve. RRT-Connect is first used to search for a collision-free path in the joint space. Then, a dichotomy merge is adopted to remove redundant path nodes. Finally, the Bezier curve is utilized to smooth the transition points in the path. The simulation and experimental results on the Kinova manipulator show that this method can effectively plan a smooth and accessible path in the obstacle environment.
UR - http://www.scopus.com/inward/record.url?scp=85084323360&partnerID=8YFLogxK
U2 - 10.1109/CYBER46603.2019.9066590
DO - 10.1109/CYBER46603.2019.9066590
M3 - Conference contribution
AN - SCOPUS:85084323360
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 649
EP - 653
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -