Random Triangle Sampling Path Planning of Assembly/Disassembly in Environment with Dangerzones

To solve the assembly/disassembly path planning in the environment with danger zones, a RRT-based path planning algorithm was presented. The algorithm addressed a random sampling function which obtains random state from the triangles that describe the dangerzones. The local planner connecting the samples with RRT tree is also introduced. Experimental results show that the algorithm much more effectively searches the paths between dangerzones and obstacles.