Node Control-Bidirectional RRT: Fast and Smooth Trajectory Planning for Live Working Robot

Abstract

It is crucial for a live working manipulator to reach the target position securely and effectively on a distribution line where there is live working activity. In this research, to provide quick trajectory planning for the live working robot, the Node Control-Bidirectional RRT (NC-BRRT) algorithm connected with Improved Cubic Spline Interpolation (ICSI) is presented. This would enable the robot to perform autonomous robot motion planning and obstacle avoidance. In order to increase the effectiveness of path search, the NC-BRRT algorithm employs a technique that progressively changes the sample area and decreases the frequency of collision detections. The trajectory can be optimized smoothly by the ICSI, which is the interpolation function intensive processing of path nodes before cubic spline interpolation optimization. Finally, the authors conduct both simulated and real-world tests to assess the suggested approach. According to the experimental findings, a live working robot built using the NC-BRRT algorithm can effectively avoid obstacles and carry out the mission quickly.