An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots

The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper proposes a multi-DOF robot motion planning method based o...

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Autores principales:	Jiabo Feng, Weijun Zhang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	motion planning Multi-DOF Robot live-line maintenance RRT Algorithm growing–withering Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/7b3dc02874b040369787a9b8d9deeb5f
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id	oai:doaj.org-article:7b3dc02874b040369787a9b8d9deeb5f
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spelling	oai:doaj.org-article:7b3dc02874b040369787a9b8d9deeb5f2021-11-25T16:37:55ZAn Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots10.3390/app1122107732076-3417https://doaj.org/article/7b3dc02874b040369787a9b8d9deeb5f2021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10773https://doaj.org/toc/2076-3417The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper proposes a multi-DOF robot motion planning method based on RRT and extended algorithms. The planning results of traditional RRT and extended algorithms are random, and obtaining sub-optimal results requires a lot of calculations. In this study, a sparse offline tree filling the planning space are generated offline through the growing–withering method. In the process of expanding the tree, by removing small branches, the tree can fully wiring in the planning space with a small number of nodes. Optimize wiring through a large number of offline calculations, which can improve the progressive optimality of the algorithm. Through dynamic sampling and pruning, the growth of trees in undesired areas is reduced and undesired planning results are avoided. Based on the offline tree, this article introduces the method of online motion planning. Experiments show that this method can quickly complete the robot motion planning and obtain efficient and low-uncertainty paths.Jiabo FengWeijun ZhangMDPI AGarticlemotion planningMulti-DOF Robotlive-line maintenanceRRT Algorithmgrowing–witheringTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10773, p 10773 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	motion planning Multi-DOF Robot live-line maintenance RRT Algorithm growing–withering Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	motion planning Multi-DOF Robot live-line maintenance RRT Algorithm growing–withering Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Jiabo Feng Weijun Zhang An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots
description	The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper proposes a multi-DOF robot motion planning method based on RRT and extended algorithms. The planning results of traditional RRT and extended algorithms are random, and obtaining sub-optimal results requires a lot of calculations. In this study, a sparse offline tree filling the planning space are generated offline through the growing–withering method. In the process of expanding the tree, by removing small branches, the tree can fully wiring in the planning space with a small number of nodes. Optimize wiring through a large number of offline calculations, which can improve the progressive optimality of the algorithm. Through dynamic sampling and pruning, the growth of trees in undesired areas is reduced and undesired planning results are avoided. Based on the offline tree, this article introduces the method of online motion planning. Experiments show that this method can quickly complete the robot motion planning and obtain efficient and low-uncertainty paths.
format	article
author	Jiabo Feng Weijun Zhang
author_facet	Jiabo Feng Weijun Zhang
author_sort	Jiabo Feng
title	An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots
title_short	An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots
title_full	An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots
title_fullStr	An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots
title_full_unstemmed	An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots
title_sort	efficient rrt algorithm for motion planning of live-line maintenance robots
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/7b3dc02874b040369787a9b8d9deeb5f
work_keys_str_mv	AT jiabofeng anefficientrrtalgorithmformotionplanningoflivelinemaintenancerobots AT weijunzhang anefficientrrtalgorithmformotionplanningoflivelinemaintenancerobots AT jiabofeng efficientrrtalgorithmformotionplanningoflivelinemaintenancerobots AT weijunzhang efficientrrtalgorithmformotionplanningoflivelinemaintenancerobots
_version_	1718413085706813440

An Efficient RRT Algorithm for Motion Planning of Live-Line Maintenance Robots

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