Assembly path planning method based on whole-course rotation constraint RRT algorithm

The invention discloses an assembly path planning method based on a whole-course rotation constraint RRT algorithm, and the method comprises the following steps: determining an assembly path search space, and setting initial parameters of an assembly path; performing calculating to obtain a probability p according to the initial parameters; in the search space, taking the initial state as a root node, expanding the path tree to the target state and the uniform random sampling points with the probabilities p and 1-p respectively, and continuously updating the dynamic probability p along with the growth of the path tree; expanding the path tree to a target state; generating a complete path, when the path tree is expanded. The expansion mode of the current local path is determined by the expandable identifier of the father node, experiments show that compared with a double-rotation constraint method, the whole-process rotation constraint method provided by the invention has the advantagethat the path search effi