机器人2013，Vol.35Issue(2)：178-185,8.DOI:10.3724/SP.J.1218.2013.00178
基于积式决策的全方位移动双臂机器人连续轨迹任务多目标规划
Multi-objective Planning of Continuous Trajectory Task for an Omni-directional Mobile Dual-Arm Robot Based on Product Arbitration
摘要
Abstract
The motion planning algorithm of omni-directional mobile dual-arm robot (OMDAR) must cope with a group of optimization criteria simultaneously, such as different types, dimensions and ranges. The mathematical modeling method and resolving algorithm of the constrained OMDAR multi-objective motion planning mission are analyzed. Based on the product arbitration based multi-objective optimization algorithm, motion planning of the continuous trajectory of OMDAR is modeled as a single objective function which is constructed with the product of multi-objective performance functions and constraints. The problem is successfully resolved with the Gaussian revering particle swarm optimization (GR-PSO) algorithm. To compare the performance of the GR-PSO algorithm and the classical sequential quadratic optimization (SQP) algorithm, continuous trajectory planning governed by 9-criteria optimization functions is resolved. The effectiveness and advantage of the GR-PSO are verified.关键词
轨迹规划/多目标/积式决策/粒子群算法Key words
trajectory planning/ multi-objective/ product arbitration/ particle swarm optimization分类
信息技术与安全科学引用本文复制引用
邱长伍,王龙梅,黄彦文..基于积式决策的全方位移动双臂机器人连续轨迹任务多目标规划[J].机器人,2013,35(2):178-185,8.基金项目
上海市科技人才计划资助项目(11R21421400). （11R21421400）
