A RRT-based collision-free and occlusion-free path planning method for a 7DOF manipulator

In this paper, we present a path planning algorithm of a 7DOF manipulator with RRT(Rapidly-exploring Random Trees). The method presents a occlusion-free and collision-free path planning algorithm. First, we present a basics of RRT algorithm which is a basic searching method for a path planning of this paper. Second, the implementation of a occlusion-free path constraints is presented. Third, the collision-avoiding path planning constraints is presented. Fourth, the integration of RRT with these two constraints is shown. The proposed method is verified by a numerical simulation with Matlab and v-rep robotics simulation tool.