OPENTECHNICAL PUBLICATION
OT-2026-000002452

Robotic arm path planning method based on directionally extended rrt algorithm

Published: 2026-09-15T19:13:10.634004Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002452
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002452
Published 2026-09-15T19:13:10.634004Z
https://opentechnical.org/p/OT-2026-000002452