ArticleSensors (Basel, Switzerland)2025
Obstacle-Avoidance Planning in C-Space for Continuum Manipulator Based on IRRT-Connect.
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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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed.
- Hybrid Offline-Online Configuration Planning Approach for Continuum Robots Based on Real-Time Shape Estimation.Sensors (Basel, Switzerland) · 2026Article
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Authors and funding
6 authors.
Funding
Abstract
Aiming at the challenge of trajectory planning for a continuum manipulator in the confined spaces of gas-insulated switchgear (GIS) chambers during intelligent operation and maintenance of power equipment, this paper proposes a configuration space (C-space) obstacle-avoidance planning method based on an improved RRT-Connect algorithm. By constructing a virtual joint-space obstacle map, the collision-avoidance problem in Cartesian space is transformed into a joint-space path search problem, significantly reducing the computational burden of frequent inverse kinematics solutions inherent in traditional methods. Compared to the RRT-Connect algorithm, improvements in node expansion strategies and greedy optimization mechanisms effectively minimize redundant nodes and enhance path generation efficiency: the number of iterations is reduced by 68% and convergence speed is improved by 35%. Combined with polynomial-driven trajectory planning, the method successfully resolves and smoothens driving cable length variations, achieving efficient and stable control for both the end-effector and arm configuration of a dual-segment continuum manipulator. Simulation and experimental results demonstrate that the proposed algorithm rapidly generates collision-free arm configuration trajectories with high trajectory coincidence in typical GIS chamber scenarios, verifying its comprehensive advantages in real-time performance, safety, and motion smoothness. This work provides theoretical support for the application of continuum manipulator in precision operation and maintenance of power equipment.
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Registered trials
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