---
publication_id: "OT-2026-000002452"
title: "Robotic arm path planning method based on directionally extended rrt algorithm"
published_at: "2026-09-15T19:13:10.634004Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002452"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/16"
---

# Robotic arm path planning method based on directionally extended rrt algorithm

## 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.