2024
DOI: 10.3390/act13020075
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An Informed-Bi-Quick RRT* Algorithm Based on Offline Sampling: Motion Planning Considering Multiple Constraints for a Dual-Arm Cooperative System

Qinglei Zhang,
Yunfeng Liu,
Jiyun Qin
et al.

Abstract: Aiming to address problems such as low sampling success rate and long computation time in the motion planning of a dual-arm cooperative system with multiple constraints, this paper proposes an Informed-Bi-Quick RRT* algorithm based on offline sampling. First, in the process of pre-sampling, the new algorithm relaxes the approximation of constrained manifolds by introducing the idea of incremental construction, and it incorporates the stochastic gradient descent method to replace global random sampling with loc… Show more

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