Chong Xu1, Hao Zhu1, Haotian Zhu2, Jirong Wang1, Qinghai Zhao1,3,*
CMES-Computer Modeling in Engineering & Sciences, Vol.137, No.3, pp. 2567-2591, 2023, DOI:10.32604/cmes.2023.029152
Abstract A new and improved RRT∗ algorithm has been developed to address the low efficiency of obstacle avoidance
planning and long path distances in the electric vehicle automatic charging robot arm. This algorithm enables
the robot to avoid obstacles, find the optimal path, and complete automatic charging docking. It maintains the
global completeness and path optimality of the RRT algorithm while also improving the iteration speed and quality
of generated paths in both 2D and 3D path planning. After finding the optimal path, the B-sample curve is used
to optimize the rough path to create a smoother and more optimal path.… More >
Graphic Abstract
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