Research on robotic arm path planning based on an improved bidirectional RRT* algorithm

To enable efficient, smooth, and obstacle-free path planning for robotic arms during cleaning operations, this study introduces an enhanced bidirectional RRT* algorithm grounded in arm kinematics. Addressing limitations like poor goal orientation and winding trajectories, the method integrates strategies such as collision checking, target biasing, adaptive step sizing, and path pruning. A cubic B-spline is then used to smooth the resulting path. Experimental validation confirms the method’s effectiveness in improving planning efficiency, convergence rate, and path quality.