Research on Obstacle Avoidance Trajectory for Robots Based on RRT Algorithm

Aerospace engine blade remanufacturing technology requires intelligent adaptive techniques for support. Due to the complexity of the operating environment and the demand for intelligence, in order to maximize machining efficiency, avoid collisions, and adapt to different blade shapes and sizes, as well as to enhance production flexibility, research emphasis should be placed on path planning. Through robotic path planning, it is possible to effectively optimize the machining path, reduce the movement time of the robot during the machining process, improve machining efficiency, and reduce the machining cycle. This paper first introduces the traditional rapidly exploring random tree (RRT) algorithm and the RRT* algorithm, and proposes an improved RRT* algorithm to address the shortcomings of these two algorithms. It first introduces the improved RRT* algorithm and proposes three improvement strategies. Then, it conducts simulations in two-dimensional space and validates its effectiveness in two map environments. Finally, the paper models a robotic arm on the MATLAB software platform, simulates the path smoothing planning of the robotic arm, thereby verifying the feasibility and superiority of the algorithm.