Multi-objective optimal trajectory planning for manipulators in the presence of obstacles
- 9 July 2021
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 40 (4), 888-906
- https://doi.org/10.1017/s0263574721000886
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
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