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RRT*-based Path Planning for Continuum Arms.

Brandon H Meng1, Isuru S Godage1, Iyad Kanj1

  • 1School of Computing, DePaul University, Chicago, IL 60604, USA.

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|December 19, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel W-Space Rapidly-exploring random trees star (RRT*) path planning approach for continuum arms. This method enhances path quality and significantly reduces planning time compared to traditional C-Space methods.

Keywords:
Flexible RoboticsMotion and Path PlanningTask and Motion Planning

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Area of Science:

  • Robotics
  • Bio-inspired Engineering
  • Motion Planning

Background:

  • Continuum arms are bio-inspired robots with continuous bending capabilities.
  • Traditional path planning methods like Rapidly-exploring random trees (RRT) often struggle with continuum arms due to complex kinematics.
  • Configuration Space (C-Space) based RRT approaches yield suboptimal paths for continuum arms because C-Space quality doesn't guarantee Work Space (W-Space) path desirability.

Purpose of the Study:

  • To develop a more effective path planning strategy for continuum arms.
  • To address the limitations of C-Space based RRT approaches in planning for continuum arms.
  • To improve path quality and efficiency in tasks like obstacle avoidance and trajectory tracking for continuum arms.

Main Methods:

  • Proposed a W-Space Rapidly-exploring random trees star (RRT*) path planning algorithm.
  • The W-Space RRT* explores the robot's operational environment directly, rather than its internal configuration space.
  • Validated the approach through simulations and applications in obstacle avoidance and trajectory tracking.

Main Results:

  • The W-Space RRT* approach generated superior quality paths compared to C-Space RRT* and previous methods.
  • Achieved significantly reduced path planning times.
  • Demonstrated successful obstacle avoidance and trajectory tracking using the proposed planner.

Conclusions:

  • W-Space RRT* path planning is a more reliable and effective strategy for continuum arms.
  • Directly planning in the W-Space overcomes the challenges posed by complex continuum arm kinematics.
  • The proposed method offers a significant advancement in path planning for bio-inspired robotic systems.