LRRT*: A robotic arm path planning algorithm based on an improved Levy flight strategy with effective region sampling RRT*

Yu Gu; Hua Luo; Wenbin Gong; Yutao Jiang; Tangju Yuan; Longzhou Cao; Hongbing Li; Wei Zhang

doi:10.1371/journal.pone.0324253

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Open Access

Peer-reviewed

Research Article

LRRT: A robotic arm path planning algorithm based on an improved Levy flight strategy with effective region sampling RRT

Yu Gu ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Conceptualization, Methodology, Software, Writing – original draft

Affiliation Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Wanzhou, Chongqing, China

https://orcid.org/0009-0006-0581-3328

⨯
Hua Luo ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Data curation

* E-mail: 1915854548@qq.com (HL); 29209645@qq.com (LC)

Affiliation Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯
Wenbin Gong ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Formal analysis

Affiliation Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯
Yutao Jiang ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Investigation

Affiliation Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯
Tangju Yuan ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Project administration

Affiliation Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯
Longzhou Cao ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Resources

* E-mail: 1915854548@qq.com (HL); 29209645@qq.com (LC)

Affiliation Chongqing Key Laboratory of Geological Environmental Monitoring and Disaster Early Warning in the Three Gorges Reservoir Area, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯
Hongbing Li ,

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Supervision, Writing – review & editing

Affiliations Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Wanzhou, Chongqing, China, Chongqing Municipal Key Laboratory of Intelligent Information Processing and Control, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯
Wei Zhang

Contributed equally to this work with: Yu Gu, Hua Luo, Wenbin Gong, Yutao Jiang, Tangju Yuan, Longzhou Cao, Hongbing Li, Wei Zhang

Roles Validation

Affiliations Internet of Things and Intelligent Control Technology Chongqing Engineering Research Center, Chongqing Three Gorges University, Wanzhou, Chongqing, China, Chongqing Municipal Key Laboratory of Intelligent Information Processing and Control, Chongqing Three Gorges University, Wanzhou, Chongqing, China
⨯

LRRT: A robotic arm path planning algorithm based on an improved Levy flight strategy with effective region sampling RRT

Yu Gu,
Hua Luo,
Wenbin Gong,
Yutao Jiang,
Tangju Yuan,
Longzhou Cao,
Hongbing Li,
Wei Zhang

Published: June 6, 2025
https://doi.org/10.1371/journal.pone.0324253

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