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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Duo Zhao

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Open access Aug 2026

Path Planning for Robotic Arm in Catenary Maintenance: An Improved RRT Algorithm Based on Obstacle Node

The proposed OB-RRT algorithm incorporates obstacle-node information derived from collision samples to guide tree expansion and improve exploration efficiency, and is validated on a 6-DoF robotic arm in a catenary maintenance scenario using a digital twin framework.

Duo Zhao, Ganke Huang, Min-Yu Liu et al. · 0 citations

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