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In this paper, an improved differential search (DS) algorithm was proposed to solve the trajectory planning problem. The DS algorithm is a new kind of evolutionary algorithm that developes rapidly recently. However, slow convergence speed and easily trapping into local optimum of the DS algorithm are the main disadvantages that limit its further application. To overcome the disadvantages of DS algorithm,...
Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
QPSO algorithm (QPSO) is introduced to design a collision-free trajectory for planar redundant manipulators. Chaotic sequences instead of random sequences are used in QPSO to diversify the QPSO population. Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. QPSO optimizes the trajectory...
A novel progressive genetic algorithm is developed for motion planning of a three-limbed robot. The proposed motion planning method can be used to find a optimal joints trajectory from the initial to the final position and orientation. On the basis of the genetic algorithm a kind of variable structure genetic algorithm is proposed to solve the problem of motion planning of the three-limbed in dynamic...
According to the design requirement of UAV (the unmanned aircraft vehicle), the models of threat, UAV's dynamics, guidance and trajectory planning are established. Trajectory planning adopts genetic algorithms (GAs) and genetic coding uses "distance, corner" program. Through simulating by Matlab/Simlink software, the result proves the trajectory planning according with dynamics, characteristic.
A new approach based on fuzzy genetic algorithm is developed to find the time-jerk synthetic optimal trajectory of robot with a joint space scheme using cubic splines. In order to get the optimal trajectory, cubic splines are employed and derived under the constraint condition of velocity and acceleration of the first and last point, which assure overall continuity of velocity and accelerations on...
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision...
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