Solving the time-jerk optimal trajectory planning problem of a robot using augmented Lagrange constrained particle swarm optimization

DOI10.1155/2017/1921479MaRDI QIDQ1992432zbMATH OpenOpenAlexWikidataFDO

Authors Shaotian Lu, Jingdong Zhao, Li Jiang, Hong Liu

Publication date 5 November 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/1921479

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Approximation methods and heuristics in mathematical programming (90C59) Applications of mathematical programming (90C90)

Review text

Summary: The problem of minimum time-jerk trajectory planning for a robot is discussed in this paper. The optimal objective function is composed of two segments along the trajectory, which are the proportional to the total execution time and the proportional to the integral of the squared jerk (which denotes the derivative of the acceleration). The augmented Lagrange constrained particle swarm optimization (ALCPSO) algorithm, which combines the constrained particle swarm optimization (CPSO) with the augmented Lagrange multiplier (ALM) method, is proposed to optimize the objective function. In this algorithm, falling into a local best value can be avoided because a new particle swarm is generated per initial procedure, and the best value gained from the former generation is saved and delivered to the next generation during the iterative search procedure to enable the best value to be found more easily and more quickly. Finally, the proposed algorithm is tested on a planar 3-degree-of-freedom (DOF) robot; the simulation results show that the algorithm is effective, offering a solution to the time-jerk optimal trajectory planning problem of a robot under nonlinear constraints.

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Cites work

• Formulation and optimization of cubic polynomial joint trajectories for industrial robots
• Global minimum-time trajectory planning of mechanical manipulators using interval analysis
• Optimization of the trajectory planning of robot manipulators taking into account the dynamics of the system.

Cited in

(1)

• A bio-inspired trajectory planning method for robotic manipulators based on improved bacteria foraging optimization algorithm and tau theory

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