Improved Rapid-Expanding-Random-Tree-Based Trajectory Planning on Drill ARM of Anchor Drilling Robots

Improved Rapid-Expanding-Random-Tree-Based Trajectory Planning on Drill ARM of Anchor Drilling Robots

Permanent highway support in deep coal mines now depends on the anchor drilling robot’s drill arm. The drilling arm’s trajectory planning using the conventional RRT (rapid-expanding random tree) algorithm is inefficient and has crooked, rough paths. To improve the accuracy of path planning, we propo...

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Bibliographic Details
Main Authors: Xuhui Zhang, Mengyao Huang, Mengyu Lei, Hao Tian, Xin Chen, Chenhui Tian
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Machines
Subjects:
drilling and anchor robots
trajectory planning
rapid-expanding random trees (RRTs)
artificial potential field
greedy algorithm
cubic B-sample
Online Access:https://www.mdpi.com/2075-1702/11/9/858

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