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Mathematical Problems in Engineering
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2024
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Article
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Fig 13
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Research Article
Obstacle Avoidance Path Planning of a 4-DOF Weapon Arm Based on Improved RRT (RRT-H) Algorithm
Figure 13
The escaping method from local traps.
The
P
random
in (a) is invalid, and the
P
random
in (b) is added to
T
.
(a)
(b)