Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-445-2025
https://doi.org/10.5194/ms-16-445-2025
Research article
 | 
10 Sep 2025
Research article |  | 10 Sep 2025

Trajectory planning for manipulator grasping with obstacle avoidance and visual occlusion in a complex environment

Jue Wang, Xiaoxiang Sun, and Wei Wang

Cited articles

Auh, E., Kim, J., Joo, Y., Park, J., Lee, G., Oh, I., Pico, N., and Moon, H.: Unloading sequence planning for autonomous robotic container-unloading system using A-star search algorithm, Corros. Eng. Sci. Techn., 50, 101–610, https://doi.org/10.1016/j.jestch.2023.101610, 2024. 
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Elhoseny, M., Tharwat, A., and Hassanien, A. E.: Bezier Curve Based Path Planning in a Dynamic Field using Modified Genetic Algorithm, J. Comput. Sci.-Neth., 25, 339–350, https://doi.org/10.1016/j.jocs.2017.08.004, 2018. 
Fan, J., Chen, X., Wang, Y., and Chen, X.: UAV trajectory planning in cluttered environments based on PF-RRT* algorithm with goal-biased strategy, Eng. Appl. Artif. Intel., 114, 105182, https://doi.org/10.1016/j.engappai.2022.105182, 2022. 
Ge, J., Mao, L., Shi, J., and Jiang, Y.: Fusion-Mask-RCNN: Visual robotic grasping in cluttered scenes, Multimedia Tools and Applications, Multimed. Tools. Appl., 83, 20953–20973, https://doi.org/10.1007/s11042-023-16365-y, 2023. 
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Short summary
In this paper, an obstacle avoidance grasping path planning method based on monocular vision is proposed. This approach achieves 99.50 % recognition accuracy in complex scenes, and the smoothness and motion efficiency of the optimized trajectory are improved by about 60 % and 10 %, respectively.
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