Multi-objective Trajectory Planning Method based on the Improved Elitist Non-dominated Sorting Genetic Algorithm  

作　　者：Zesheng Wang Yanbiao Li Kun Shuai Wentao Zhu Bo Chen Ke Chen 

机构地区：[1]College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310023,China [2]Key Laboratory of E&M,Ministry of Education&Zhejiang Province,Zhejiang University of Technology,Hangzhou 310032,China

出　　处：《Chinese Journal of Mechanical Engineering》2022年第1期70-84,共15页中国机械工程学报（英文版）

基　　金：Supported by the Zhejiang Provincial Natural Science Foundation for Distinguished Young Scientists(Grant No.LR18E050003);the National Natural Science Foundation of China(Grant Nos.51975523,51905481);Natural Science Foundation of Zhejiang Province(Grant No.LY22E050012);the Students in Zhejiang Province Science and Technology Innovation Plan(Xinmiao Talents Program)(Grant No.2020R403054);the China Postdoctoral Science Foundation(Grant No.2020M671784)。

摘　　要：Robot manipulators perform a point-point task under kinematic and dynamic constraints.Due to multi-degreeof-freedom coupling characteristics,it is difficult to find a better desired trajectory.In this paper,a multi-objective trajectory planning approach based on an improved elitist non-dominated sorting genetic algorithm(INSGA-II)is proposed.Trajectory function is planned with a new composite polynomial that by combining of quintic polynomials with cubic Bezier curves.Then,an INSGA-II,by introducing three genetic operators:ranking group selection(RGS),direction-based crossover(DBX)and adaptive precision-controllable mutation(APCM),is developed to optimize travelling time and torque fluctuation.Inverted generational distance,hypervolume and optimizer overhead are selected to evaluate the convergence,diversity and computational effort of algorithms.The optimal solution is determined via fuzzy comprehensive evaluation to obtain the optimal trajectory.Taking a serial-parallel hybrid manipulator as instance,the velocity and acceleration profiles obtained using this composite polynomial are compared with those obtained using a quintic B-spline method.The effectiveness and practicability of the proposed method are verified by simulation results.This research proposes a trajectory optimization method which can offer a better solution with efficiency and stability for a point-to-point task of robot manipulators.

关 键 词：Hybrid manipulator Bezier curve Improved optimization algorithm Trajectory planning Multi-objective optimization 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]