{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,22]],"date-time":"2026-02-22T22:18:20Z","timestamp":1771798700634,"version":"3.50.1"},"reference-count":34,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2024,12,24]],"date-time":"2024-12-24T00:00:00Z","timestamp":1734998400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2023YFC3011100"],"award-info":[{"award-number":["2023YFC3011100"]}]},{"name":"National Key R&amp;D Program of China","award":["2021B1212040017"],"award-info":[{"award-number":["2021B1212040017"]}]},{"name":"Science and Technology Planning Project of Guangdong Province, China","award":["2023YFC3011100"],"award-info":[{"award-number":["2023YFC3011100"]}]},{"name":"Science and Technology Planning Project of Guangdong Province, China","award":["2021B1212040017"],"award-info":[{"award-number":["2021B1212040017"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>The trajectory planning of manipulators plays a crucial role in industrial applications. This importance is particularly pronounced when manipulators operate in environments filled with obstacles, where devising paths to navigate around obstacles becomes a pressing concern. This study focuses on the environment of frame obstacles in industrial scenes. At present, many obstacle avoidance trajectory planning algorithms struggle to strike a balance among trajectory length, generation time, and algorithm complexity. This study aims to generate path points for manipulators in an environment with obstacles, and the trajectory for these manipulators is planned. The search direction adaptive RRT*Connect (SDA-RRT*Connect) method is proposed to address this problem, which adaptively adjusts the search direction during the search process of RRT*Connect. In addition, we design a path process method to reduce the length of the path and increase its smoothness. As shown in experiments, the proposed method shows improved performances with respect to path length, algorithm complexity, and generation time, compared to traditional path planning methods. On average, the configuration space\u2019s path length and the time of generation are reduced by 38.7% and 57.4%, respectively. Furthermore, the polynomial curve trajectory of the manipulator was planned via a PSO algorithm, which optimized the running time of the manipulator. According to the experimental results, the proposed method costs less time during the manipulator\u2019s traveling process with respect to other comparative methods. The average reduction in running time is 45.2%.<\/jats:p>","DOI":"10.3390\/sym17010001","type":"journal-article","created":{"date-parts":[[2024,12,24]],"date-time":"2024-12-24T04:45:49Z","timestamp":1735015549000},"page":"1","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["SDA-RRT*Connect: A Path Planning and Trajectory Optimization Method for Robotic Manipulators in Industrial Scenes with Frame Obstacles"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-1644-8340","authenticated-orcid":false,"given":"Guanda","family":"Wu","sequence":"first","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen 518107, China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, Guangzhou 510006, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2963-9476","authenticated-orcid":false,"given":"Ping","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen 518107, China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, Guangzhou 510006, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9932-3306","authenticated-orcid":false,"given":"Binbin","family":"Qiu","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen 518107, China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, Guangzhou 510006, China"}]},{"given":"Yu","family":"Han","sequence":"additional","affiliation":[{"name":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen 518107, China"},{"name":"Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, Guangzhou 510006, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,12,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Alhama Blanco, P.J., Abu-Dakka, F.J., and Abderrahim, M. 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