Smooth Path Planning of 6-DOF Robot Based on Reinforcement Learning

Abstract

The current path planning algorithms such as A-star(all stars) algorithm and RRT (Rapidly-exploring Random Trees) algorithm can meet the obstacle avoidance planning of the 6-DOF robot, but the smoothness of the path is not considered. Working in an unreasonable path for a long time will produce a great load on the joints of the 6-DOF robot and seriously affect its life. In this paper, we use reinforcement learning reconcile A-star algorithm and RRT algorithm for smooth path planning of the robot. Experimental results show that compared with A-star algorithm and RRT algorithm, the fusion algorithm has smoother path and more reasonable time.