Time Optimal Trajectory Planning Algorithm for Robotic Manipulator Based on Locally Chaotic Particle Swarm Optimization
Yuxiao Du, Yihang CHEN
Abstract
Optimal trajectory planning is a fundamental problem in the area of robotic research. On the time-optimal trajectory planning problem during the motion of a robotic arm, the method based on segmented polynomial interpolation function with a locally chaotic particle swarm optimization (LCPSO) algorithm is proposed in this paper. While completing the convergence in the early or middle part of the search, the algorithm steps forward on the problem of local convergence of traditional particle swarm optimization (PSO) and improved learning factor PSO (IFPSO) algorithms. Finally, simulation experiments are executed in joint space to obtain the optimal time and smooth motion trajectory of each joint, which shows that the method can effectively shorten the running time of the robotic manipulator and ensure the stability of the motion as well.