Path Planning of Manipulator Based on RRT-Connect and Bezier Curve

This paper presents a path planning approach for a manipulator based on RRT-Connect and Bezier curve. RRT-Connect is first used to search for a collision-free path in the joint space. Then, a dichotomy merge is adopted to remove redundant path nodes. Finally, the Bezier curve is utilized to smooth the transition points in the path. The simulation and experimental results on the Kinova manipulator show that this method can effectively plan a smooth and accessible path in the obstacle environment.

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