Multi-objective Optimization-based Trajectory Planning of the Distributed Actuation Mechanism for Variable Tasks

2021 ◽  
Vol 27 (12) ◽  
pp. 1070-1075
Author(s):  
Jong Ho Kim
Keyword(s):  
Trajectory Planning ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Actuation Mechanism

scholarly journals Stochastic Multi-objective Optimization for Aggressive Maneuver Trajectory Planning on Loose Surface

2010 ◽  
Vol 43 (16) ◽  
pp. 575-580
Author(s):  
Alexander V. Terekhov ◽  
Jean-Baptiste Mouret ◽  
Christophe Grand
Keyword(s):  
Trajectory Planning ◽  
Multi Objective Optimization ◽  
Multi Objective

scholarly journals Multi-objective Optimization of Spraying Trajectory Planning for Large Ship Blocks using Evolutionary Computation

Procedia CIRP ◽  
2021 ◽  
Vol 104 ◽  
pp. 530-535
Author(s):  
Xuemei Liu ◽  
Yan Feng ◽  
Qingfei Zeng ◽  
Xiaocai Hu ◽  
Zhen Yang
Keyword(s):  
Evolutionary Computation ◽  
Trajectory Planning ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Large Ship

scholarly journals Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation

Sensors ◽  
2019 ◽  
Vol 19 (19) ◽  
pp. 4253 ◽  
Author(s):  
Haoyao Chen ◽  
Fengyu Quan ◽  
Linxu Fang ◽  
Shiwu Zhang
Keyword(s):  
Trajectory Planning ◽  
Trajectory Tracking ◽  
Tracking System ◽  
Optimal Solution ◽  
Dynamic Parameter ◽  
Multi Objective Optimization ◽  
Genetic Method ◽  
Multi Objective ◽  
Motion Constraints ◽  
Aerial Manipulator

Autonomous grasping with an aerial manipulator in the applications of aerial transportation and manipulation is still a challenging problem because of the complex kinematics/dynamics and motion constraints of the coupled rotors-manipulator system. The paper develops a novel aerial manipulation system with a lightweight manipulator, an X8 coaxial octocopter and onboard visual tracking system. To implement autonomous grasping control, we develop a novel and efficient approach that includes trajectory planning, visual trajectory tracking and kinematic compensation. Trajectory planning for aerial grasping control is formulated as a multi-objective optimization problem, while motion constraints and collision avoidance are considered in the optimization. A genetic method is applied to obtain the optimal solution. A kinematic compensation-based visual trajectory tracking is introduced to address the coupled affection between the manipulator and octocopter, with the advantage of discarding the complex dynamic parameter calibration. Finally, several experiments are performed to verify the effectiveness of the proposed approach.

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