Path planning for robotic manipulator in narrow space with search algorithm

摘要

A path planning method based on improved rapidly-exploring random trees (RRT) algorithm is proposed for visual servoing tasks. Firstly, the improved RRT planning method is adopted, which contains the image constraints. The start node and the desired node are initialized as roots of multi-trees which grow harmoniously to plan path of the robot. The planned path is then utilized to project the 3D target feature points into the image space and obtain the feature trajectory for the image-based visual servoing (IBVS) controller. The proposed visual servoing design method can significantly improve the ability of the robotic manipulator, especially in the narrow space. Simulation results present the effectiveness of the proposed algorithm.