Operating system

Combinatorics

Physics

Mathematical optimization

Artificial intelligence

Any-angle path planning

Topology (electrical circuits)

Programming language

Mobile robot

Planner

Path (computing)

Space (punctuation)

Fast path

Mathematics

Kinematics

Computer science

Quantum mechanics

Obstacle avoidance

Classical mechanics

Motion planning

Robot

Configuration space

IEEE Robotics and Automation Letters

Continuum arms are bio-inspired devices that exhibit continuous, smooth bending and generate motion through structural deformation. Rapidly-exploring random trees (RRT) is a traditional approach for performing efficient path planning. RRT approaches are usually based on exploring the configuration space (C-Space) of the robot to find a desirable work space (W-Space) path. <styled-content style="color:black" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Due to the complex kinematics and the highly non-linear mapping between the C-Space and W-Space of continuum arms, a high-quality path in the C-Space (e.g., a linear path) may not correspond to a desirable path/movement in the W-Space. Consequently, the C-Space RRT approaches that are based on C-Space cost functions do not lead to reliable and effective path planning when applied to continuum arms.</styled-content> In this letter, we propose a RRT* path planning approach for continuum arms that is based on exploring the W-Space of the robot as opposed to its C-Space. We show the successful applications of the proposed W-Space RRT* path planner in performing path planning with obstacle avoidance and in performing trajectory tracking. In all the aforementioned tasks, the quality of the paths generated by the proposed planner is superior to that of previous approaches and to its counterpart C-Space based RRT* approach, while the paths are generated in substantially less time.

RRT*-Based Path Planning for Continuum Arms