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Vol. 177, Issue 8, August 2014, pp. 75-84




BBRRT Rapid Collision Avoidance Motion Planning Algorithm
for Intelligent High Dimensional Robot

* Huazhong Li, Yongsheng Liang

Software Department, Shenzhen Institute of Information Technology, No. 2188 Longxiang Road, Longgang District, Shenzhen, 518029 Guangdong, China
* Tel.: +86-0755-89226179, fax: 0755-89226555

E-mail: lihz@sziit.edu.cn, liangys@sziit.edu.cn


Received: 8 March 2014 /Accepted: 31 July 2014 /Published: 31 August 2014

Digital Sensors and Sensor Sysstems


Abstract: Aiming at collision avoidance, convergence and execution efficiency in the motion planning of intelligent high-dimensional robot, the solution for rapid bi-directional balanced RRT (BBRrt) collision avoidance based on random sampling has been proposed. Firstly, the theoretical basis for BBRrt has been researched based on the concept of random sampling for configuration space, the BBRrt algorithm that can improve the performance stability and convergence rate of motion planning in random sampling has been developed, the completeness of such algorithm has been proved on a theoretical basis; secondly, the rapid collision detection algorithm based on convex hull has been developed by using convex set theory, and the theoretical base of such collision detection algorithm has been further proved; finally, a three-dimensional visualization system software framework for motion planning has been designed and implemented. Taking KURA robot with six degrees of freedom (DoFs) for example, the effectiveness and stability proposed in this paper have been verified via computational simulation.


Keywords: Bi-directional balanced RRT, Motion planning, Collision detection, Configuration space, Probabilistically completeness, Convex set theory, High dimensional robot.


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