{
  "abstract": "A robotic arm path planning method based on a Direction Extended Rapidly-exploring Random Tree (RRT) algorithm includes: determining a workspace of a robotic arm; determining a starting node and a target node based on the workspace, and performing modeling using an initialized random tree to obtain an obstacle space; generating a random node in the obstacle space, and setting a bias probability; determining whether a current random node collides with an obstacle; if yes, obtaining a new random node, until a currently generated random node does not collide with an obstacle; if not, determining whether the current random node is the target node; if the current random node is not the target node, continuing to generate new random nodes; if the current random node is the target node, obtaining an initial path; and optimizing the initial path to obtain a final path.",
  "assignees": [
    "UNIV NORTH CHINA TECHNOLOGY"
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  "authors": [
    "JI HONGHAI",
    "LIU SHIDA",
    "WANG JING",
    "WANG LI",
    "ZHANG JIALIN",
    "ZHANG XIAOPING"
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  "title": "Robotic arm path planning method based on directionally extended rrt algorithm",
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