Abstract
There are many problems in the robot path planning,such as long-time debugging and low efficiency existed,in the assembling,welding,spraying and other industrial field.A new path searching optimization algorithm was proposed to tackle these problems,which is based on the Probabilistic Roadmap.Firstly,this proposed algorithm picked out the collision-free and local paths between every two sampling points by taking advantage of Hybrid Bounding Volume Hierarchy Tree Algorithm.Secondly,A*algorithm was adopted to search a global path when the position and orientation of starting point and ending point were set.Finally,the path optimization algorithm was applied to optimize the searched global path.In this way,the path of collision-free and global optimization was attained automatically by using this algorithm after the starting point and ending point of motion were given.The simulations and the experiments of real robot show that this algorithm is appliedied into the paths search of industrial robots,and the global path of robot motion is not only shorter but also can avoid the obstacles effectively.