Efficient RRT*-based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments
Peiyu Luo,Shilong Yao,Yiyao Yue,Jiankun Wang,Hong Yan,Max Q.-H. Meng,Peiyu Luo,Shilong Yao,Yiyao Yue,Jiankun Wang,Hong Yan,Max Q.-H. Meng
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic complexity of continuum robots requires a significant amount of time for their motion planning, posing a hurdle to their practical implementation. To tackle these cha...