ArticleSensors (Basel, Switzerland)2025
Research on High-Precision Motion Planning of Large Multi-Arm Rock Drilling Robot Based on Multi-Strategy Sampling Rapidly Exploring Random Tree.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- Variable-Damping Impedance Control for Contact Tasks: A Reinforcement Learning Method Integrating HER and Importance Sampling.Sensors (Basel, Switzerland) · 2026Article
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2 authors.
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Abstract
In addressing the optimal motion planning issue for multi-arm rock drilling robots, this paper introduces a high-precision motion planning method based on Multi-Strategy Sampling RRT* (MSS-RRT*). A dual Jacobi iterative inverse solution method, coupled with a forward kinematics error compensation model, is introduced to dynamically correct target positions, improving end-effector positioning accuracy. A multi-strategy sampling mechanism is constructed by integrating DRL position sphere sampling, spatial random sampling, and goal-oriented sampling. This mechanism flexibly applies three sampling methods at different stages of path planning, significantly improving the adaptability and search efficiency of the RRT* algorithm. In particular, DRL position sphere sampling is prioritized during the initial phase, effectively reducing the number of invalid sampling points. For training a three-arm DRL model with the twin delayed deep deterministic policy gradient algorithm (TD3), the Hindsight Experience Replay-Obstacle Arm Transfer (HER-OAT) method is used for data replay. The cylindrical bounding box method effectively prevents collisions between arms. The experimental results show that the proposed method improves motion planning accuracy by 94.15% compared to a single Jacobi iteration. MSS-RRT* can plan a superior path in a shorter duration, with the planning time under optimal path conditions being only 20.71% of that required by Informed-RRT*, and with the path length reduced by 21.58% compared to Quick-RRT* under the same time constraints.
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