Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization

Zhao，Suping1,2; Chen，Chaobo1,2; Li，Jichao1,2; Gao，Song1,2; Guo，Xinxin3

2022-11-01

10.3390/app122110892

Applied Sciences (Switzerland)   Impact Factor & Quartile

2076-3417

The trajectory planning of an aerial robotic manipulator system is studied using Hybrid Particle Swarm Optimization (HPSO). The aerial robotic manipulator is composed of an unmanned aerial vehicle (UAV) base and a robotic manipulator. The robotic manipulator is dynamically singular. In addition, strong coupling exists between the UAV base and the robotic manipulator. To overcome the problems, the trajectory planning is studied in the join space using HPSO. HPSO combines superiorities of PSO and GA (Genetic Algorithm), prohibiting particles from becoming trapped in a local minimum. In addition, the control parameters are self-adaptive and contribute to fast searching for the global optimum. The trajectory planning problem is converted into a parameter optimization problem. Each joint trajectory is parameterized with a Bézier curve. The HPSO is implemented to optimize joint trajectories, satisfying specific objectives and imposed constraints. Numerical simulations are also carried out to validate the effectiveness of the proposed method.

aerial robotic manipulator Bézier curve particle swarm optimization unmanned aerial vehicle

SCI

English

Others

China Postdoctoral Science Foundation[2021M701548];National Natural Science Foundation of China[62103182];

WOS:000880965200001

2-s2.0-85141845351

Scopus

1.Autonomous Unmanned Systems Research Laboratory,Xi’an Technological University,Xi’an,710021,China
2.School of Electronic Information Engineering,Xi’an Technological University,Xi’an,710021,China
3.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,518005,China

Zhao，Suping,Chen，Chaobo,Li，Jichao,et al. Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization[J]. Applied Sciences (Switzerland),2022,12(21).

Zhao，Suping,Chen，Chaobo,Li，Jichao,Gao，Song,&Guo，Xinxin.(2022).Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization.Applied Sciences (Switzerland),12(21).

Zhao，Suping,et al."Trajectory Planning of Aerial Robotic Manipulator Using Hybrid Particle Swarm Optimization".Applied Sciences (Switzerland) 12.21(2022).