Abstract
Path planning of dual-arm robot is very complicated, and the efficiency
of traditional algorithms is low. To solve this problem, the FT-heaps-A*
algorithm is presented in this letter. A new parameter ‘FT’ is
introduced to avoid the invalid path nodes in the high-dimensional
environments. Then, the time required to maintain the open table
structure is reduced by splitting the open table. Thus, the efficiency
of path planning for the single manipulator is improved. Based on the
above improved A* algorithm, a time series A* (TSA*) algorithm is
proposed to plan the obstacle avoidance path of the dual-arm robot. The
simulation results show that the proposed algorithm has higher path
quality and efficiency than the traditional algorithms.