RRT-Based Path Planning for Follow-the-Leader Motion of Hyper-Redundant Manipulators
Hanghang Wei,Yang Zheng,Guoying Gu,Hanghang Wei,Yang Zheng,Guoying Gu
Hyper-redundant manipulators with slender body and high dexterity are widely applied for operations in confined spaces. Among the motion planning methods for these operations, the follow-the-leader motion controller is generally developed to avoid the obstacles, while the path trajectories are usually given. In this paper, we present an autonomous motion planner with a specialized rapidly explorin...
