Trajectory Optimization of High-Speed Robotic Positioning with Suppressed Motion Jerk via Improved Chicken Swarm Algorithm

Article Engineering, Electrical & Electronic

Adaptive Simplified Chicken Swarm Optimization Based on Inverted S-Shaped Inertia Weight

Yanchun Gu et al.

Summary: This paper introduces an adaptive simplified chicken swarm optimization algorithm based on inverted S-shaped inertia weight to solve the problems of premature convergence and low solution accuracy in high-dimensional problems. By removing the chicks, introducing the inverted S-shaped inertia weight, and adding an adaptive updating strategy, the algorithm outperforms other algorithms in terms of convergence speed, solution accuracy, and solution stability.

CHINESE JOURNAL OF ELECTRONICS (2022)

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Article Engineering, Electrical & Electronic

Time Optimal Trajectory Planning Algorithm for Robotic Manipulator Based on Locally Chaotic Particle Swarm Optimization

Du Yuxiao et al.

Summary: This paper proposes a method for solving the problem of time-optimal trajectory planning, using segmented polynomial interpolation functions and a locally chaotic particle swarm optimization algorithm. Simulation experiments are conducted to verify the effectiveness of the method.

CHINESE JOURNAL OF ELECTRONICS (2022)

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Review Thermodynamics

Time-jerk optimal trajectory planning of hydraulic robotic excavator

Yunyue Zhang et al.

Summary: This paper investigates the optimal trajectory planning of a hydraulic robotic excavator using the Sequential Quadratic Programming (SQP) algorithm, considering a trade-off between time and acceleration. By utilizing cubic splines for interpolation in joint space, the optimal angle curves for each joint are obtained and the excavator's optimal time-jerk trajectory planning is achieved. Experimental results demonstrate that the SQP method is more efficient in solving the optimal solution under the same weight, resulting in smoother excavating trajectories and improved stability and efficiency in autonomous operation.

ADVANCES IN MECHANICAL ENGINEERING (2021)

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Review Computer Science, Artificial Intelligence