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When the nodes are expanded, new nodes are generated due to goal gravity and random point gravity, with the weight values dynamically adjusted via dichotomy, and the new nodes are expanded to the goal point twice to more rapidly obtain a tree extension direction that is closer to the goal point. For boundary points, the issues of narrow channels and stepped obstacles can be effectively solved by extending the local environment sampling boundaries. To optimize the paths, the redundant intermediate nodes are simplified based on the triangle inequality. Simulation analyses show that the proposed planner can adapt to a variety of scenarios in real time while satisfying optimal path conditions.<\/jats:p>","DOI":"10.1007\/s40747-023-01131-2","type":"journal-article","created":{"date-parts":[[2023,7,6]],"date-time":"2023-07-06T02:01:26Z","timestamp":1688608886000},"page":"7475-7494","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":26,"title":["Path planning and collision avoidance based on the RRT*FN framework for a robotic manipulator in various scenarios"],"prefix":"10.1007","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3312-2066","authenticated-orcid":false,"given":"Jianyou","family":"Qi","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6747-7864","authenticated-orcid":false,"given":"Qingni","family":"Yuan","sequence":"additional","affiliation":[]},{"given":"Chen","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Xiaoying","family":"Du","sequence":"additional","affiliation":[]},{"given":"Feilong","family":"Du","sequence":"additional","affiliation":[]},{"given":"Ao","family":"Ren","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,6]]},"reference":[{"key":"1131_CR1","doi-asserted-by":"publisher","first-page":"102289","DOI":"10.1016\/j.rcim.2021.102289","volume":"75","author":"YH Yu","year":"2022","unstructured":"Yu YH, Zhang YT (2022) Collision avoidance and path planning for industrial manipulator using slice-based heuristic fast marching tree. 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