一种改进 RRT$^*$ 结合四次样条的协调路径规划方法$^{\bf 1)}$
余敏,罗建军,王明明(),高登巍
COORDINATED PATH PLANNING BY INTEGRATING IMPROVED RRT$^{\small*}$ AND QUARTIC SPLINE$^{\bf 1)}$
Yu Min,Luo Jianjun,Wang Mingming(),Gao Dengwei

图9. 机械臂各连杆之间的相对距离

Fig.9. The minimum distance between robot links