基于改进粒子群优化的水下机器人足端轨迹规划OACSTPCD

Regarding the high order of polynomial interpolation trajectory planning and the large amount of optimization operations in the face of multiple constraints,a 5-time polynomial interpolation trajectory planning algorithm based on an improved particle swarm optimization method in the joint space of underwater robots with the goal of time optimality is proposed.With the leg water resistance coefficient calculated by Fluent,a number of constraint equations are established.The search target is changed to reduce the search dimension and calculation amount.Compared with standard particle swarm optimization,the improved particle swarm optimization is trade-off between global convergence and computation speed.The angle,angular velocity and angular acceleration curves of each joint are obtained by simulation experiments,which verifies the feasibility and effectiveness of the proposed method.