Modified D-H parameters.
<div><p>In response to the widely used RRT-Connect path planning algorithm in the field of robotic arms, which has problems such as long search time, random node growth, multiple and unsmooth path turns, a path planning algorithm combining dynamic step size and artificial potential field...
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2025
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| _version_ | 1852020360387493888 |
|---|---|
| author | Zhenggang Wang (1753657) |
| author2 | Junyang Tang (19811171) Fangxu Yi (21370058) Xiangrui Ren (21370061) Kunxiang Wang (21370064) |
| author2_role | author author author author |
| author_facet | Zhenggang Wang (1753657) Junyang Tang (19811171) Fangxu Yi (21370058) Xiangrui Ren (21370061) Kunxiang Wang (21370064) |
| author_role | author |
| dc.creator.none.fl_str_mv | Zhenggang Wang (1753657) Junyang Tang (19811171) Fangxu Yi (21370058) Xiangrui Ren (21370061) Kunxiang Wang (21370064) |
| dc.date.none.fl_str_mv | 2025-05-15T17:51:49Z |
| dc.identifier.none.fl_str_mv | 10.1371/journal.pone.0323734.t001 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/dataset/Modified_D-H_parameters_/29080592 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Biotechnology Ecology Developmental Biology Inorganic Chemistry Biological Sciences not elsewhere classified Information Systems not elsewhere classified scattered sampling points improve redundant points 2 %, compared target gravitational function random sampling function slow expansion caused long search time widely used rrt random node growth artificial potential field robotic arms based unsmooth path turns robotic arms repulsion function planning time expansion process robotic arm xlink "> step size planned path path planning new nodes dynamically adjust connect algorithm biased strategy |
| dc.title.none.fl_str_mv | Modified D-H parameters. |
| dc.type.none.fl_str_mv | Dataset info:eu-repo/semantics/publishedVersion dataset |
| description | <div><p>In response to the widely used RRT-Connect path planning algorithm in the field of robotic arms, which has problems such as long search time, random node growth, multiple and unsmooth path turns, a path planning algorithm combining dynamic step size and artificial potential field is proposed. To solve the problem of scattered sampling points in the RRT-Connect algorithm, a goal-biased strategy is introduced. To address the problem of slow expansion caused by using fixed step sizes, a dynamic step size strategy is introduced to dynamically adjust the step size. To reduce randomness in the expansion process, the artificial potential field method is integrated to constrain the growth of new nodes by the random sampling function, the target gravitational function and the repulsion function. Finally, the planned path is pruned and smoothed using cubic B-splines to improve redundant points and turns in the path, and reduce the occurrence of shaking during the motion of the robotic arm. In the same environment, the improved algorithm reduces path length by 15.4% and planning time by 49.2%, compared with the RRT-Connect algorithm.</p></div> |
| eu_rights_str_mv | openAccess |
| id | Manara_4df08cf74bc0622c99d4b9de2ed77eb2 |
| identifier_str_mv | 10.1371/journal.pone.0323734.t001 |
| network_acronym_str | Manara |
| network_name_str | ManaraRepo |
| oai_identifier_str | oai:figshare.com:article/29080592 |
| publishDate | 2025 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | Modified D-H parameters.Zhenggang Wang (1753657)Junyang Tang (19811171)Fangxu Yi (21370058)Xiangrui Ren (21370061)Kunxiang Wang (21370064)BiotechnologyEcologyDevelopmental BiologyInorganic ChemistryBiological Sciences not elsewhere classifiedInformation Systems not elsewhere classifiedscattered sampling pointsimprove redundant points2 %, comparedtarget gravitational functionrandom sampling functionslow expansion causedlong search timewidely used rrtrandom node growthartificial potential fieldrobotic arms basedunsmooth path turnsrobotic armsrepulsion functionplanning timeexpansion processrobotic armxlink ">step sizeplanned pathpath planningnew nodesdynamically adjustconnect algorithmbiased strategy<div><p>In response to the widely used RRT-Connect path planning algorithm in the field of robotic arms, which has problems such as long search time, random node growth, multiple and unsmooth path turns, a path planning algorithm combining dynamic step size and artificial potential field is proposed. To solve the problem of scattered sampling points in the RRT-Connect algorithm, a goal-biased strategy is introduced. To address the problem of slow expansion caused by using fixed step sizes, a dynamic step size strategy is introduced to dynamically adjust the step size. To reduce randomness in the expansion process, the artificial potential field method is integrated to constrain the growth of new nodes by the random sampling function, the target gravitational function and the repulsion function. Finally, the planned path is pruned and smoothed using cubic B-splines to improve redundant points and turns in the path, and reduce the occurrence of shaking during the motion of the robotic arm. In the same environment, the improved algorithm reduces path length by 15.4% and planning time by 49.2%, compared with the RRT-Connect algorithm.</p></div>2025-05-15T17:51:49ZDatasetinfo:eu-repo/semantics/publishedVersiondataset10.1371/journal.pone.0323734.t001https://figshare.com/articles/dataset/Modified_D-H_parameters_/29080592CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/290805922025-05-15T17:51:49Z |
| spellingShingle | Modified D-H parameters. Zhenggang Wang (1753657) Biotechnology Ecology Developmental Biology Inorganic Chemistry Biological Sciences not elsewhere classified Information Systems not elsewhere classified scattered sampling points improve redundant points 2 %, compared target gravitational function random sampling function slow expansion caused long search time widely used rrt random node growth artificial potential field robotic arms based unsmooth path turns robotic arms repulsion function planning time expansion process robotic arm xlink "> step size planned path path planning new nodes dynamically adjust connect algorithm biased strategy |
| status_str | publishedVersion |
| title | Modified D-H parameters. |
| title_full | Modified D-H parameters. |
| title_fullStr | Modified D-H parameters. |
| title_full_unstemmed | Modified D-H parameters. |
| title_short | Modified D-H parameters. |
| title_sort | Modified D-H parameters. |
| topic | Biotechnology Ecology Developmental Biology Inorganic Chemistry Biological Sciences not elsewhere classified Information Systems not elsewhere classified scattered sampling points improve redundant points 2 %, compared target gravitational function random sampling function slow expansion caused long search time widely used rrt random node growth artificial potential field robotic arms based unsmooth path turns robotic arms repulsion function planning time expansion process robotic arm xlink "> step size planned path path planning new nodes dynamically adjust connect algorithm biased strategy |