An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method

Xiaobo Zhang, Jinguo Liu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

1 Citation (Scopus)

Abstract

This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilized as the dynamic curve. For these two curves, two novel shape control methods are proposed to accomplish the shape constraining process. Finally, we verify the reliability and effectiveness of our algorithm through simulations.

Original languageEnglish
Pages (from-to)1036-1069
Number of pages34
JournalRobotica
Volume40
Issue number4
DOIs
Publication statusPublished - 3 Apr 2022

Keywords

  • space hyper-redundant manipulators
  • obstacle avoidance
  • RRT
  • shape control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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