Rapid 3D Trajectory Planning Under State Constraints Using Receding Horizon PSO Algorithm

2021 ◽  
pp. 2773-2787
Author(s):  
Pengpeng Yan ◽  
Yonghua Fan ◽  
Yuanlin Chen ◽  
Mingang Wang
Keyword(s):  
Trajectory Planning ◽  
State Constraints ◽  
Pso Algorithm ◽  
Receding Horizon

scholarly journals Industrial robot trajectory planning based on improved pso algorithm

2021 ◽  
Vol 1820 (1) ◽  
pp. 012185
Author(s):  
Shunjie Han ◽  
Xinchao Shan ◽  
Jinxin Fu ◽  
Weijin Xu ◽  
Hongyan Mi
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Pso Algorithm ◽  
Robot Trajectory ◽  
Improved Pso ◽  
Robot Trajectory Planning

scholarly journals Analysis and Optimization of Interpolation Points for Quadruped Robots Joint Trajectory

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Mingfang Chen ◽  
Kaixiang Zhang ◽  
Sen Wang ◽  
Fei Liu ◽  
Jinxin Liu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Pso Algorithm ◽  
Joint Space ◽  
Quadruped Robots ◽  
Original Curve ◽  
Temporal Domain ◽  
Trajectory Simulation ◽  
Physical Prototype ◽  
Joint Trajectory Planning ◽  
Actual Trajectory

Trajectory planning is the foundation of locomotion control for quadruped robots. This paper proposes a bionic foot-end trajectory which can adapt to many kinds of terrains and gaits based on the idea of trajectory planning combining Cartesian space with joint space. Trajectory points are picked for inverse kinematics solution, and then quintic polynomials are used to plan joint space trajectories. In order to ensure that the foot-end trajectory generated by the joint trajectory planning is closer to the original Cartesian trajectory, the distributions of the interpolation point are analyzed from the spatial domain to temporal domain. An evaluation function was established to assess the closeness degree between the actual trajectory and the original curve. Subsequently, the particle swarm optimization (PSO) algorithm and genetic algorithm (GA) for the points selection are used to obtain a more precise trajectory. Simulation and physical prototype experiments were included to support the correctness and effectiveness of the algorithms and the conclusions.

Real-Time Cooperative Trajectory Planning Using Differential Flatness Approach and B-Splines

2013 ◽  
Vol 333-335 ◽  
pp. 1338-1343 ◽  
Author(s):  
Xue Qiang Gu ◽  
Yu Zhang ◽  
Jing Chen ◽  
Lin Cheng Shen
Keyword(s):  
Optimal Control ◽  
Real Time ◽  
Trajectory Planning ◽  
Differential Flatness ◽  
Planning Problem ◽  
Receding Horizon ◽  
B Splines ◽  
Battlefield Environment ◽  
Planning Space ◽  
Spatial Trajectories

This paper proposed a cooperative receding horizon optimal control framework, based on differential flatness and B-splines, which was used to solve the real-time cooperative trajectory planning for multi-UCAV performing cooperative air-to-ground target attack missions. The planning problem was formulated as a cooperative receding horizon optimal control problem (CRHC-OCP), and then the differential flatness and B-splines were introduced to lower the dimension of the planning space and parameterize the spatial trajectories. Moreover, for the dynamic and uncertainty of the battlefield environment, the cooperative receding horizon control was introduced. Finally, the proposed approach is demonstrated, and the results show that this approach is feasible and effective.

Lower Distortion in Trajectory Planning for a Rigid-Flexible Manipulator Based on PSO Algorithm

2013 ◽  
Vol 300-301 ◽  
pp. 458-463
Author(s):  
Hai Bin Yin ◽  
Ni Cong Jiang ◽  
Jin Li Xu ◽  
Feng Yun Huang
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Optimization Algorithms ◽  
Pso Algorithm ◽  
Flexible Manipulator ◽  
Specific Site ◽  
Site Conditions ◽  
Site Condition

This paper presents a novel trajectory planning for a multilink rigid-flexible manipulator. An original trajectory is given according to the site condition and requirement of motion, and desired trajectory is determined by using an optimization. To satisfy the requirement of motion with restrictions, the desired trajectory cannot significantly deviate from the original trajectory. Consequently, the lower distortion in trajectory planning should be considered in optimization algorithm. Two different formulations of trajectory are introduced in two optimization algorithms to compare the distortion degree. Finally, the calculation samples are addressed by using specific site conditions and requirements of motion to verify the validity of proposal.

scholarly journals An Optimization-Based Receding Horizon Trajectory Planning Algorithm

2020 ◽  
Vol 53 (2) ◽  
pp. 15550-15557
Author(s):  
Kristoffer Bergman ◽  
Oskar Ljungqvist ◽  
Torkel Glad ◽  
Daniel Axehill
Keyword(s):  
Trajectory Planning ◽  
Receding Horizon ◽  
Planning Algorithm
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