Bi-RRT* Based Trajectory Optimization and Obstacle Avoidance for a Serial Manipulator

Nowadays, due to the rapid development and application of robotics and artificial intelligence technology, the collision-free operation of robotic manipulators has attracted a great deal of interest in the industrial manufacturing field. In complex manufacturing situations catering to one specific task, one critical issue is to develop an obstacle-free trajectory for a manipulator. In this researc...