TC-SRRT*HAC: A HAC controller-based Trackability- Constrained Spatio-temporal RRT* for Manipulator Motion Planning in Dynamic Environments

Thanh-Lam  Bui; Duc-Quang  Nguyen; Vu-Hai  Luu; Dinh-Hieu  Phan; Thai-Viet  Dang

doi:10.6180/jase.202608_31.007

TC-SRRTHAC: A HAC controller-based Trackability- Constrained Spatio-temporal RRT for Manipulator Motion Planning in Dynamic Environments

Thanh-Lam Bui¹, Duc-Quang Nguyen¹, Vu-Hai Luu¹, Dinh-Hieu Phan¹, and Thai-Viet Dang²This email address is being protected from spambots. You need JavaScript enabled to view it.

¹School of Mechanical & Automotive Engineering, Hanoi University of Industry, Hanoi, 110000, Vietnam

²School of Mechanical Engineering, Hanoi University of Science and Technology, Hanoi, 112400, Vietnam

Received: October 30, 2025
Accepted: January 3, 2026
Publication Date: February 1, 2026

Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

Download Citation: ||https://doi.org/10.6180/jase.202608_31.007

We propose TC-SRRTHAC for real-time motion planning and tracking in dynamic environments. A trackability constraint (TC) prunes the search to trajectories that are executable under controller limits on velocity, acceleration, and bandwidth, while enforcing collision safety. On this basis, the TC-SRRT planner performs spatiotemporal planning with moving obstacles and timing constraints, using goal-region expansion, conditional sampling, and efficient rewiring to find feasible collision-free paths with reduced arrival time. For trajectory tracking, a Hedge Algebra Controller (HAC) employs a semantically structured linguistic representation. In simulation and hardware experiments on a 4-DOF manipulator, TC-SRRT*HAC achieves RMSEs of 0.96−1.72 mm and 1.45−2.08 mm, respectively, with 23% lower tracking error and 10% lower control energy than an FLC baseline, while keeping planning latency below 200 ms-supporting its use in precision industrial automation under dynamic conditions.

Keywords: Real-time path planning, Rapidly Exploring Random Tree, fuzzy logic control, Hedge Algebra controller, manipulator

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