MDA + RRT: A general approach for resolving the problem of angle constraint for hyper-redundant manipulator

作者：

Highlights：

• The MDA + RRT algorithms guarantee that planned path satisfies the constraint of angle.

• Compared with other algorithms, this algorithm does not increase the computation amount.

• The feasibility and optimization of MDA + RRT are preferable to the corresponding RRT.

• This method is a universal method that can be associated with any kind of RRT algorithm.

摘要

•The MDA + RRT algorithms guarantee that planned path satisfies the constraint of angle.•Compared with other algorithms, this algorithm does not increase the computation amount.•The feasibility and optimization of MDA + RRT are preferable to the corresponding RRT.•This method is a universal method that can be associated with any kind of RRT algorithm.

论文关键词：Hyper-redundant manipulator,RRT algorithm,Maximum deflection angle,Path planning

论文评审过程：Received 30 January 2021, Revised 30 November 2021, Accepted 4 December 2021, Available online 29 December 2021, Version of Record 7 January 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.116379