Intelligent Joint Space Path Planning: Enhancing Motion Feasibility with Goal-Driven and Potential Field Strategies

Intelligent Joint Space Path Planning: Enhancing Motion Feasibility with Goal-Driven and Potential Field Strategies

Traditional path-planning algorithms for robotic manipulators typically focus on end-effector planning, often neglecting complete collision avoidance for the entire manipulator. Additionally, many existing approaches suffer from high time complexity and are easily trapped in local extremes. To addre...

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Bibliographic Details
Main Authors: Yuzhou Li, Yefeng Yang, Kang Liu, Chih-Yung Wen
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Sensors
Subjects:
collision avoidance
path planning
manipulator
joint space
rapidly-exploring random tree
Online Access:https://www.mdpi.com/1424-8220/25/14/4370
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