Obstacle Avoidance Path Planning of a 4-DOF Weapon Arm Based on Improved RRT (RRT-H) Algorithm

<div>(a) Path costs against the number of <i>P</i><sub>random</sub>s and (b) path planning effect with new <i>P</i><sub>start</sub> and <i>P</i><sub>goal</sub>.</div>

Mathematical Problems in Engineering

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Figure 10

Figure 10: Obstacle Avoidance Path Planning of a 4-DOF Weapon Arm Based on Improved RRT (RRT-H) Algorithm 