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| Obstacle Avoidance Path Planning of Robotic Arm Using DTSP-RRT* Algorithm |
| WANG Ying 1，GU Hongda 1*，LIU Qi 1**，CAO Nali2
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1.School of Information and Control Engineering，Jilin Institute of Chemical Technology，
Jilin City 132022，China
2. Jilin Yuwen High School, Jilin City 132022，China
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Abstract To address the three major challenges of poor path stability, low search efficiency, and high path cost when applying traditional RRT* algorithms to 6-DOF robotic arms in complex 3D environments, this paper proposes the DTSP-RRT* algorithm (RRT* Algorithm Incorporating Distance Threshold Classification and Shortest Path Requirements). The optimization is achieved through a three-stage technical approach: First, a DTSP (Distance Threshold evaluation and Shortest Path requirements) strategy is introduced to filter temporary target points, enhancing obstacle-avoidance stability. Second, an ellipsoid-constrained sampling space and dynamically adjusted extension step sizes based on obstacle detection are implemented to improve search efficiency. Finally, global parent node replanning reduces motion costs, while cubic B-spline curves eliminate path spikes. To validate algorithm performance, simulation comparison experiments were conducted on MATLAB platform comparing DTSP-RRT* with standard RRT, RRT*, and APF-RRT* algorithms. Results demonstrate that DTSP-RRT* significantly outperforms the other three algorithms in path search time, final path length, path node count, and sampling node count. This study provides novel insights for path planning of 6-DOF robotic arms in complex scenarios.
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Published: 20 December 2025
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