2023
DOI: 10.3390/machines12010019
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A Novel Planning and Tracking Approach for Mobile Robotic Arm in Obstacle Environment

Jiabin Yu,
Jiguang Wu,
Jiping Xu
et al.

Abstract: In this study, a novel planning and tracking approach is proposed for a mobile robotic arm to grab objects in an obstacle environment. First, we developed an improved APF-RRT* algorithm for the motion planning of a mobile robotic arm. This algorithm optimizes the selection of random tree nodes and smoothing the path. The invalid branch and the planning time are decreased by the artificial potential field, which is determined by the specific characteristics of obstacles. Second, a Fuzzy-DDPG-PID controller is e… Show more

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