Sensors, Vol. 23, Pages 4814: Implementation of a Real-Time Object Pick-and-Place System Based on a Changing Strategy for Rapidly-Exploring Random Tree

Sensors, Vol. 23, Pages 4814: Implementation of a Real-Time Object Pick-and-Place System Based on a Changing Strategy for Rapidly-Exploring Random Tree Sensors doi: 10.3390/s23104814 Authors: Ching-Chang Wong Chong-Jia Chen Kai-Yi Wong Hsuan-Ming Feng An object pick-and-place system with a camera, a six-degree-of-freedom (DOF) robot manipulator, and a two-finger gripper is implemented based on the robot operating system (ROS) in this paper. A collision-free path planning method is one of the most fundamental problems that has to be solved before the robot manipulator can autonomously pick-and-place objects in complex environments. In the implementation of the real-time pick-and-place system, the success rate and computing time of path planning by a six-DOF robot manipulator are two essential key factors. Therefore, an improved rapidly-exploring random tree (RRT) algorithm, named changing strategy RRT (CS-RRT), is proposed. Based on the method of gradually changing the sampling area based on RRT (CSA-RRT), two mechanisms are used in the proposed CS-RRT to improve the success rate and computing time. The proposed CS-RRT algorithm adopts a sampling-radius limitation mechanism, which enables the random tree to approach the goal area more efficiently each time the environment is explored. It can avoid spending a lot of time looking for valid points when it is close to the goal point, thus reducing the computing time of the improved RRT algorithm. In addition, the CS-...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research