机械制造与自动化2024，Vol.53Issue(4)：208-213,249,7.DOI:10.19344/j.cnki.issn1671-5276.2024.04.040
基于改进粒子群优化的水下机器人足端轨迹规划
Trajectory Planning of Underwater Robot Foot Based on Improved Particle Swarm Optimization
支程昊 1赵东标1
作者信息
- 1. 南京航空航天大学 机电学院,江苏 南京 210016
- 折叠
摘要
Abstract
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.关键词
水下机器人/轨迹规划/粒子群优化/多项式插值Key words
underwater robot/trajectory planning/particle swarm optimization/polynomial interpolation分类
计算机与自动化引用本文复制引用
支程昊,赵东标..基于改进粒子群优化的水下机器人足端轨迹规划[J].机械制造与自动化,2024,53(4):208-213,249,7.
