A Path Optimization Algorithm for Motion Planning with the Moving Target

摘要

There are many algorithms based on RRT~* algorithm for solving robotic motion planning problems, but most of them deal with cases with the static target. In this paper, we improved the bidirectional RRT~* algorithm and proposed a path optimization algorithm tailored to the moving target. Our algorithm can find the first feasible path more rapidly and optimize the path in real-time as the target moves. We compared RRT~*, bidirectional RRT~* and our optimized algorithm in simulation experiments. The experiment results show that our algorithms find the first feasible solution in shorter time and has faster rate of convergence in the environment with different obstacle placements. We implemented our algorithm on UR5 robot with RG2 grasper in V-rep simulations and the robot grasped the moving object successfully.