Hongcheng Ji

E-RRT*: Path Planning for Hyper-Redundant Manipulators

A hyper-redundant manipulator(HRM) can flexibly accomplish tasks in narrow spaces. However, its excessive degrees of freedom pose challenges for path planning. In this letter, an ellipsoid-shape rapidly-exporing random tree (E-RRT*) method is proposed for path planning of HRMs in workspace, particul