Article contents
Multi-objective optimal trajectory planning for manipulators in the presence of obstacles
Published online by Cambridge University Press: 09 July 2021
Abstract
This paper presents a trajectory planning method based on multi-objective optimization, including time optimal and jerk optimal for the manipulators in the presence of obstacles. The proposed method generates a trajectory configuration in the joint space with kinematic and obstacle constraints using quintic B-spline. Gilbert–Johnson–Keerthi detecting algorithm is utilized to detect whether there is a collision and obtain the minimum distance between the manipulator and obstacles. The degree of constraint violations is introduced to redefine the Pareto domination, and the constrained multi-objective particle swarm algorithm (CMOPSO) is adopted to solve the time-jerk optimization problem. Finally, the Z-type fuzzy membership function is proposed to select the best optimal solution in the Pareto front obtained by CMOPSO. Test results show the effectiveness of the proposed method.
Keywords
- Type
- Research Article
- Information
- Copyright
- © The Author(s), 2021. Published by Cambridge University Press
References
- 11
- Cited by