Robotic arm path planning method based on directionally extended RRT algorithm

A robotic arm path planning method based on a Direction Extended Rapidly-exploring Random Tree (RRT) algorithm, comprising:

• 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, wherein the obstacle space comprises a circular obstacle space and a rectangular obstacle space;
• generating a random node in the obstacle space by using a target node sampling method, wherein the target node sampling method comprises setting a bias probability P0 based on a spatial distribution of obstacles, randomly generating a probability P in a range of 0 to 1, setting the target node as a sampling node when P is less than or equal to P0, and setting the sampling node as a random node when P is greater than P0;
• determining whether a current random node collides with an obstacle;
• in response to a determination that the current random node collides with the obstacle, adjusting a direction and a step length for subsequently generated random nodes based on the bias probability and a direction-based adaptive step length adjustment strategy to obtain a new random node, until a currently generated random node does not collide with an obstacle, wherein the direction-based adaptive step length adjustment strategy comprises setting a direction angle θ between a direction vector from Xnear to Xgoal and a direction vector from Xnew to Xgoal, setting an angle threshold, and dynamically adjusting a sampling step length based on the direction angle θ;
• in response to a determination that the current random node does not collide with the obstacle:
• determining whether the current random node is the target node;
• in response to determining the current random node is not the target node, continuing to generate new random nodes;
• and
• in response to determining the current random node is the target node, obtaining an initial path;
• and
• optimizing the initial path to obtain a final path.