2,359 research outputs found
Hybrid PSO-cubic spline for autonomous robots optimal trajectory planning
This paper presents a new version of the Particle Swarm Optimization algorithm where the particles are
replaced by spline functions. The developed algorithm generates smooth motion trajectories with two times
continuously differentiable curvature avoiding obstacles placed in the workspace. It can be used for autonomous
robot path planning or transport problems. The spline based trajectory generation gives us continuous, smooth and optimized path trajectories. Simulation and experimental results demonstrate the effectiveness of the proposed method.info:eu-repo/semantics/publishedVersio
Particle swarm optimization versus genetic algorithm in manipulator trajectory planning
The aim of this study is the reduction of the computational burden associated with the evolutionary optimization of manipulator trajectory planning. This paper proposes the use of a particle swarm optimization algorithm to generate trajectories for robotic planar manipulators, based on direct kinematics. The design objective is to minimize the ripple in the trajectory time evolution. Several redundant and hyperredundant manipulators are considered. The particle swarm optimization algorithm is compared with genetic algorithm in solving the manipulator trajectory planning problem. Preliminary simulation results are presented.N/
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