Repurposing a sampling-based planner for a six-degree-of-freedom manipulator to avoid unpredictable obstacles

• Main Authors: Iman, Hafiz, Khan, Md. Raisuddin
• Format: Article
• Language: English; English; English
• Published: KOE, International Islamic University Malaysia-IIUM 2023
• Subjects: T Technology (General)
• Online Access: http://irep.iium.edu.my/109736/1/raisuddin_hafiz_iiumJ_2023.pdf; http://irep.iium.edu.my/109736/7/REPURPOSING%20A%20SAMPLING-BASED%20PLANNER%20FOR%20A%20SIX-DEGREE-scopus.pdf; http://irep.iium.edu.my/109736/8/REPURPOSING%20A%20SAMPLING-BASED%20PLANNER%20FOR%20A%20SIX-DEGREE-wos.pdf; http://irep.iium.edu.my/109736/; https://journals.iium.edu.my/ejournal/index.php/iiumej/article/view/2642

This paper presents the use of a sampling-based planner as a reactive planning scheme to avoid obstacles between a robotic arm and a moving obstacle. Based on a planner benchmark on an obstacle-ridden environment, a rapidly-exploring random tree (RRT) planner has been used to populate the trajectori...