This paper proposes an improved RRT*-Connect algorithm (IRRT*-Connect) for robotic arm path planning in narrow environments with multiple obstacles. A heuristic sampling strategy is adopted with the integration of the ellipsoidal subset sampling and goal-biased sampling strategies. which can continuously compress the sampling space to enhance the sampling efficiency. During the node e... https://www.roneverhart.com/Carin-Shard-East-Non-Ladder/