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Experimental Comparison of APF-IRRT*-HS and APF-IRRT*-SB Path Planning Algorithms Using Robotic Manipulators | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Volume 26, Issue 1, April 2026 PDF (78.17 M) | ||
| Document Type: Research Paper | ||
| DOI: https://doi.org/10.33103/2617-3352.1513 | ||
| Authors | ||
| Mohammed Thamer Hameed* 1; Ahmed R. Nasser* 2; Firas A. Raheem* 3 | ||
| 1MSC student | ||
| 2Control and Systems Engineering | ||
| 3Control and System College, University of T echnology , Baghdad, Iraq | ||
| Abstract | ||
| Path planning is a fundamental task in robotic systems, especially for manipulators operating in constrained environments. The use of low-discrepancy sequence techniques in traditional planning algorithms can significantly improve performance, particularly in terms of speed of convergence and optimal path. In this work, we utilize the popular quasi-random sequence methods, the Halton and Sobol sequences, to explore their impact on the Rapidly Exploring Random Tree (RRT) algorithm. The APF-RT*-HS and the APF-RT*-SB are path-planning algo- rithms that are experimentally compared in this paper in terms of path length and the number of iterations, which are essential factors affecting robot energy efficiency and responsiveness. A modified version of the Lynxmotion AL5D robot arm was used as a case study in three different static test environments, representing complex environments frequently encountered in industrial automation work. Based on the experimental test results, The APF-IRRT*-SB algorithm achieved improvements of approximately 3.04% in path length and 9.14% in the number of iterations compared with the APF-IRRT*-HS. This improvement translates into shorter path lengths and reduced computation time, which are crucial for enabling robotic arms to operate more efficiently in cluttered industrial environments and real-time applications. These results indicate that using the Sobol sequence in path planning for robots produces more efficient paths compared to using the Halton sequence. | ||
| Keywords | ||
| Path planning; Lynxmoition AL-5D; Rapidly-Exploring Random Tree; low-discrepancy sequences; Free Cartesian Space (FCS) | ||
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