测控技术2018，Vol.37Issue(3)：1-5,5.
模拟退火遗传算法在机械臂路径规划中的应用
Application of Simulated Annealing Genetic Algorithm in Manipulator's Trajectory Planning
宗玉杰 1崔建伟1
作者信息
- 1. 东南大学仪器科学与工程学院,江苏南京210096
- 折叠
摘要
Abstract
By embedding the simulated annealing algorithm into the genetic algorithm,an improved simulated annealing genetic algorithm is introduced to research the trajectory planning of manipulator.The algorithm can change the probability of crossover and mutation in different conditions to improve the self-adaptability.Meanwhile,the spot annealing operation can be used in each generation of subpopulation to overcome the problem caused by local minimum.In addition,the concept of entire annealing is introduced.To increase the efficiency of the algorithm,the fitness function is stretched as temperature decreasing during the evolution.By taking the time-jerk optimization as the target,the algorithm is applied to trajectory planning of the 7-DOF manipulator.The experiment results show that the generated trajectories satisfy all the constraints.关键词
遗传算法/模拟退火算法/路径规划/时间冲击最优Key words
genetic algorithm/simulated annealing algorithm/trajectory planning/time-jerk optimization分类
信息技术与安全科学引用本文复制引用
宗玉杰,崔建伟..模拟退火遗传算法在机械臂路径规划中的应用[J].测控技术,2018,37(3):1-5,5.
