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<p>The informed bidirectional rapidly-exploring random tree (IBi-RRT*) algorithm, in path planning for robotic arms in complex environments, has some drawbacks such as high path cost, excessive redundant nodes, long planning time, and low path smoothness. To this end, in this paper we propose a Fast-IBi-RRT* algorithm, which enhances the previous IBi-RRT* algorithm in both the sampling and path parts. In regard to the sampling component, two additional strategies have been incorporated: probabilistic target point region sampling and redundant node deletion. Meanwhile, two strategies have been introduced for the path section: an adaptive step size strategy and a reconnecting grandfather node strategy. To illustrate the efficiency and practicality, the Fast-IBi-RRT* algorithm is simulated in three different environments, and applied to an industrial robot arm. The experimental results demonstrate that the proposed Fast-IBi-RRT* algorithm can track a superior path with shorter planning time, lower path cost, and better path smoothness.</p>

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A novel path planning scheme based on Fast-IBi-RRT* algorithm for industrial robots

  • 期刊论文

  • 发表日期：

    2025年6月19日

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  • Miao Zhang,
  • Shengwei Liu,
  • Quan Zhou,
  • Xiaoguang Han

摘要

The informed bidirectional rapidly-exploring random tree (IBi-RRT*) algorithm, in path planning for robotic arms in complex environments, has some drawbacks such as high path cost, excessive redundant nodes, long planning time, and low path smoothness. To this end, in this paper we propose a Fast-IBi-RRT* algorithm, which enhances the previous IBi-RRT* algorithm in both the sampling and path parts. In regard to the sampling component, two additional strategies have been incorporated: probabilistic target point region sampling and redundant node deletion. Meanwhile, two strategies have been introduced for the path section: an adaptive step size strategy and a reconnecting grandfather node strategy. To illustrate the efficiency and practicality, the Fast-IBi-RRT* algorithm is simulated in three different environments, and applied to an industrial robot arm. The experimental results demonstrate that the proposed Fast-IBi-RRT* algorithm can track a superior path with shorter planning time, lower path cost, and better path smoothness.