Abstract
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.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
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