Collision-free motion planning and trajectory tracking of underactuated robots based on genetic algorithm - 文章详情页

作者：

Liu, Qing-Bo (Liu, Qing-Bo.) | Yu, Yue-Qing (Yu, Yue-Qing.) (学者：余跃庆) | Su, Li-Ying (Su, Li-Ying.)

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摘要：

Collision-free　motion　planning　and　trajectory　tracking　of　underactuated　robots　are　investigated　in　this　paper.　The　partly　stable　planners　are　introduced　and　the　control　objectives　are　fulfilled　by　the　proper　switching　of　partly　stable　planners.　The　genetic　algorithm　is　introduced　in　the　best　switching　sequence　searching.　Penalty　method　is　utilized　and　the　constrained　optimizations　turns　to　be　unconstrained　ones,　then　the　best　solutions　are　obtained　by　the　genetic　algorithm.　At　last　numerical　simulations　which　are　carried　out　on　the　planar　3R　underactuated　robot　show　the　effectiveness　of　the　proposed　method.

关键词：

Collision avoidance Constrained optimization Genetic algorithms Motion planning Motion tracking Numerical methods Planning Robot programming Robots Trajectories

作者机构：

[ 1 ] [Liu, Qing-Bo]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Liu, Qing-Bo]Aerospace Inertia Technology Corporation, CASIC, Beijing 100074, China
[ 3 ] [Yu, Yue-Qing]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Su, Li-Ying]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China

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